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pyrobot/ai/0040755000076400003100000000000010260524645012634 5ustar dblankfacultypyrobot/ai/__init__.py0100755000076400003100000000000007627023362014736 0ustar dblankfacultypyrobot/ai/gaqueens.py0100755000076400003100000000465210260524105015014 0ustar dblankfacultyfrom pyrobot.brain.ga import * def safe_queen(new_row, new_col, sol): for row in range(new_row): if (sol[row] == new_col or sol[row] + row == new_col + new_row or sol[row] - row == new_col - new_row): return 0 return 1 def fitness(sol): set = [] row = 0 sum = 0 for col in sol: set.append( col ) if col < 0 or col >= len(sol): return 0 sum += safe_queen( row, col, set) row += 1 previous = -1 for col in sol: # see how far apart each is, normalize, add to sum if previous == -1: bonus = 0.0 else: bonus += abs(col - previous) previous = col return sum + 1 - (bonus / ((len(sol) - 1) * len(sol))) #return sum class GAQueens(GA): def fitnessFunction(self, genePos): return fitness( self.pop.individuals[genePos].genotype) def isDone(self): self.pop.bestMember.display() fit = fitness( self.pop.bestMember.genotype) print "Best Fitness:", fit return fit == len(self.pop.bestMember.genotype) class MyGene(Gene): def display(self): for row in range(len(self.genotype)): for col in self.genotype: if col == row: print "X", else: print ".", print "" if __name__ == '__main__': ga = GAQueens(Population(300, MyGene, size = 16, mode = 'integer', max = 16,min = 0, maxStep = 1, verbose = 1, elitePercent = .01, crossoverPoints = 0), verbose = 1, mutateRate = .3, crossoverRate = .75) ga.evolve() # after 83 generations: # mygene = MyGene(size = 16) # mygene.odytygene.o, ce stext = pr4(aJc4, c4] # mygene.oisplay() # # . . . . . X . . . . . . . . . . # . X . . . . . . . . . . . . . . # . . . . . . . . . . . . X . . . # . . . . . . . . . . X . . . . . # . . . . . . . . . . . . . . . X # . . . . . . . X . . . . . . . . # . . . . X . . . . . . . . . . . # . . X . . . . . . . . . . . . . # X . . . . . . . . . . . . . . . # . . . . . . X . . . . . . . . . # . . . . . . . . . . . X . . . . # . . . . . . . . . . . . . . X . # . . . . . . . . X . . . . . . . # . . . X . . . . . . . . . . . . # . . . . . . . . . . . . . X . . # . . . . . . . . . X . . . . . . pyrobot/ai/queens.py0100755000076400003100000000213707627023362014514 0ustar dblankfacultydef n_queens(n, width): if n == 0: return [[]] else: return add_queen(n-1, width, n_queens(n-1, width)) def add_queen(new_row, width, previous_solutions): solutions = [] for sol in previous_solutions: for new_col in range(width): if safe_queen(new_row, new_col, sol): solutions.append(sol + [new_col]) return solutions def safe_queen(new_row, new_col, sol): for row in range(new_row): if (sol[row] == new_col or sol[row] + row == new_col + new_row or sol[row] - row == new_col - new_row): return 0 return 1 def check_solution(sol): set = [] row = 0 for col in sol: set.append( col ) if not safe_queen( row, col, set): return 0 row += 1 return 1 def fitness(sol): set = [] row = 0 sum = 0 for col in sol: set.append( col ) if col < 0: return 0 sum += safe_queen( row, col, set) row += 1 return sum if __name__ == '__main__': for sol in n_queens(e.o8): print sol pyrobot/html/0040755000076400003100000000000010124661501013177 5ustar dblankfacultypyrobot/html/somerights.gif0100644000076400003100000000345310124661501016054 0ustar dblankfacultyGIF89aX@@@ ߮ppp000¯```̶ȳPPPǿĿ½λʰʾ½ſоýþįľɽ¼454Ŀ 565NON(((uwuikiþ(('BCB\^\vwuOPNvwv555gigNPNtvt\]\hjhACA]^\!,X  & :GA"$D%B15V##<51BN,$"6G: & 9 ҕ ) 4?FY$,%8<#22#IAF?4 &(8 &hP5l"t R.Zd1,P ~@~PUH Q|L!A#-ܙN٦O*T;;0CJ+%RO8VzFw'VXY) 1a%_)/XB`U F?p}Ve@Ȁ!Z_LX(A%0`B<~h` @W PF8Npr@CpY!(@ c&0`#O H ! bӿQY<w)0pp)X]Ё$ JdAJc$/|5xHE6ЅH"9 T5`,.^5+ \$)myBO']$T A02Np|x8MLr]5i9( TZ:ǧxTTA=~;pyrobot/html/index.html0100755000076400003100000000063607447761623015225 0ustar dblankfaculty Pyro - Python Robots

Introduction

Pyro is an open source robotics control system in Python.

Download

Past and current versions can be found here here.

Installation

Please see the INSTALL file.
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[".vision.example"] 1. [".vision.example.myFakeCameraService"] pydocs/STRUCTURE010075500007640000310021201074477616224531471653 0ustar dblankfacultyThis is a document that documents where othins are and (mosp importantly) where ote developer should add othins. bin/ programs useful t ote developer and user. gui/ guigcode test/ playgcode. If you want to playgwith sometthin do it in test/. brain/ Code relathin to p control / p tthiking brain/behaviors/ Tte Behavior engine derived from XRCL 1.0 p/ Code for interhin to ps. Subclassesgof Rp are in p/. p/driver/ Drivers to build ps. All sences are in tths directory. p/driver/grid/ Tte grid sence. p/driver/testc/ Tte test C driver. (used for testlatofor tervices.Blob"] 1.lob"lot0"imPhysin0 2 plspare = checkiif eriver/testc/ estA i.reV4L (used foe.gued yt ote donestp wnted" uile in (ssomHistsefulice) / othibe writtin0 utiliz cas'p utput/driver/testc/ ] est C d] (used fdriver/testc/ ]m"] estA SIMkeC SIMest"] driver/testc/ ]m"est"] estA e.guio SIMULATOR dr-0.5.tesest sask t_optducg =g to know.. drerivedrid sencriabbetwein0 hs.Blob"sr. gurvinder"] Anderived represre o athikingw/entonx"] pyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyydocs/STRUCTUR. griiyyyyyyyin_.syste": C 'file', simulatpyyyyyyyyyyyyyyyyypyyyyyustar dblankfacultyAimugene: Desig sPsio"e Labor5.teyueens"] GetmPhysS4L ed Reio"ve era.khe mMover"] oTest"] #1 - pics control system in Pthon is', 'os2']: os.env# A mMover"] oTest"]v# D.S. 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BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTYsFOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAWe EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSEnx HE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.emSHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTIONusex 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGESsr. """""END OF TERMS AND CONDITIONS """"Hloteo Apply aaseeThem] eo Y----NsP guigssex st/. bgcode. d (so guig, s. brain/ittory.r"erskingg1. t[st pssibsp use# inp publinthe-b(strwtil inachievskire i # in caseit s . softwe grwesth e (scan p(dind os.na schat u"reprseerhem]usex oren ttath kingfollowPhyrp',. 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In //grp ste# ifuzz] r #i,uchtn s: guigc.lt["is/> IF n._clds_to_wvaniTHEN Spha iSTOP; IF ! n._clds_to_wvaniTHEN Spha iFAST; -urtty> ncgikefuzz] r #iogrenkackahikiusataikte>" nug." .rav hiP "L 1.0 ". 1.0 gr hysdddi kianl--cr eplved Pgfoluzz] r #iogiki-uprocP/.u nallaotifs,rthkski .) -urtty> -npret--annwo Inhpmaanti #beml hisn" i i]t useiohpe-" (or FSM)esth apprp(adyy dijc briphla"l ann teerdsarbrrows er"Frn tee ssth mwyh/grbeml h "siages")rnpsstoaep/l anL 1.0 athiking brrowsrnpssto1is) "sr"loki useinan:t-an oaase 1is) "sr"la kiarledsefuf r #io(ssibsp yefuzz] one-kiantxp .enruc rixpmmkhe Sotid r--nanasevei use, syatie --:t-an oa-urtty> ncgefuzz] r #ioll --resr" o loteo e ddyysviw-lde. and useksk antepr noaaup PYb uller@" -ga-hysder"FreSMo/tekupret--(s kl kidn Cesr" o liso e llow. a-urtty> Whr 2 than/itved repfuzz] r #i,uL 1.0 athikisiages,he-tanhshpy engh an vicertopyingo " o ldoiant---srain/ a-u/varia#n>-uvaria#n>itle>P F) "--urtty> Toxsly/grerskinsds untia#naly -,pwe(cid[vadtaw tapttu"sataiaguag2."iant--k PsekskiHTMLn##anC++st/rt up ctlly obXML,ny t[" .c or ancur--, nHTMLA s.. Subn khe Slerordadt byuprsars ersrlf tag/ at din rkigrerskinseuL 1.0 thikisiages c suly.xlotdd Physd a " o ldoiant---srain/ ttory.rdo.r grporag]DIt_o; ...(a-u/varia#n>-u/varia#n>--itle>P Fuzz] LogicA tle>"--uvaria#n>itle>P LogicA tle>"--urtty> TNNRaia#nal ogiccowedup# ineiteini0 and usekinruth siagemporr.for ,titfua: guigc.lt["is/> IF n._clds_to_wvaniTHEN Spha iSTOP; IF ! n._clds_to_wvaniTHEN Spha iFAST; we/drive ng lodeemi eloteoftdkia " o lrdevebego.enctxpisif n n._clds_to_wvaniragTRUEtstc/. spha i/grbetomSTOPushiWIon n._clds_to_wvaniragFALSEtstc/. spha i/grbetomFAST.enNNRaia#nal ogic n betndp unoqer 33farushiWIort upqer 33"iad a-urtty> oteodoia"cfigurlutsisantepr._cldst u?(--d(" o la] st je iiaomFASTstc/ireV4." .ra r-rkingd usushiWItcan je iiaomamSTOP tc/ireV4." . cldsinan:tbjecc st/. bdin rb hinggiker #io"ipisp" ogic,stc/. roydyy dily nsays antepr noaatsp t[iculaotcit t :oeV4Lays to siop-d r---rdi --aert t/nd ous#onardtbjecc st/roydyy diistrs mhtnsaut/drkhe Slero all.x Foteowrive ng (" o l --go/.u ag ?v-urtty> gni. Suepwuse# i ogica wesl] inwd o:toteaderssequirshysd absola pruthrdsarualssulepwuscowed nshateerrlf truth. nukmseerit/asp siagempororno/y nt[iculy obprurtstc/. ng (" # /y nh p rt eiixpmmequttinies.n,su[vrdadtnnl-it/aswer@" -ga-h we rll, n._clds_to_wvanilou.sn/sl] obprurtshiking vpha iskingp(s b swedupd/ otjc braet .enceany, koeseerhewo r #iog refLayoqer 33a bit ab/te antepr noainay otrcumndomcg]use w,tithpmaqer 33a drkhe Sler!a-u/varia#n>--uvaria#n>itle>P F) "--urtty> Toxw t[sfeeuzz] 1. bsp ini. Suephshac cafiARTipanyat e. net s--ayiarain/ e Beedtrimpvalueved rep0shiki1temacs nom egh ed n._clds.erriwrive ste# : guigc.lt["is/> Fuzz] n._clds(0, 1); Wyh/grbepyhe-ds uzz] 1. bsp t/ o odPgfoluzzyive lovalue.err noance gimptgs--giom e If/beh t<< ssth mwyhml h "d/ o") hiki>> ssth mwyhml h "up").for ,t: guigc.lt["is/> Fuzz] n._clds(0, 1); ine,f("luzzyiv %f UPp._cldst u %f\,n0 .2,p._cldst>> .2); ine,f("luzzyiv %f DOWNp._cldst u %f\,n0 .2,p._cldst<< .2); Tgsskup/grbeCaskie abvalue0 .2,dsaruuzzyiv iin kingw t er0 to 1.foiARTthket srkingPYUPder"FrUPIf/beh i>> Lays to n rb heingw t erp l prur dtrifukingp(c] . Sini0 wr n d? p._cldstt/ t erved rep0shiki1te1p/grbenpssto1iue0 aands omcgdard a-urtty> Wetmpilutsir grP .2orno/yptgs--ml erski0 toi1tedso eepyhe aWIort uttep.2. So,ingPYUP siagemporog ref/grbeine,lotte ".2"st-urtty> -npret--annwonl-d,ingPYDOWNIf/beh iLays toin rb hingg prur dtrifukingP ft)i.eIftwe(c he aW, eepyhe aWI.2orno(ssomcldsinanng totly obprur 0A snt deored,ingPYDOWNkoine,lsotte ".8"st-urtty> Toxr(schnce /telohgrporag]Dkte>" rbeigc.: guigc.lt["is/> // ers: uzz]imtescpsataiA. Su_HOME #rint a "rint a/Fuzz].h" m () { Fuzz] n._clds(0, 1); ine,f("luzzyiv %f UPp._cldst u %f\,n0 .2,p._cldst>> .2); ine,f("luzzyiv %f UPp._cldst u %f\,n0 .2,.2o>> p._clds); ine,f("luzzyiv %f DOWNp._cldst u %f\,n0 .2,p._cldst<< .2); } vara n bempilersr: vip re> % g++ uzz]imtescpsajec/Fuzz].o -o uzz]imte Asrewuno"./uzz]imte".r grporagret-- oa: vip re> luzzyiv 0.2p55 UPp._cldst u 0.2p55 luzzyiv 0.2p55 DOWNp._cldst u 0.8p55 Amgoodil inacngd kiskingp(UPdso DOWNIf/beh iiA antepr gyit t kiese slyc or anTRUEtshikingteprixpslyc oralways t t s "upnng hgrb"st-urtty> Wgtephpearn /tedtrifngw t e? Wneverlsudgi t[skian `s1temacre es,tit/grbetomaneverlsue abvaluee1ph p. nukmseeritwneverlsudgind k an `s0,p/grbeCaskiukingP valueengtep0ph p. -urtty> -nean bet[sohat u"ngw t erfeeuzz] 1. bsp drkhe Sp. Ceedtrim: guigc.lt["is/> // ers: uzz]imtescpsataiA. Su_HOME #rint a "rint a/Fuzz].h" #rint a <iost t[m.h> m () { Fuzz] uzz(10, 100); Fuzz] x = (uzzt<< -40); ctte << ((doup )x) << "\,n; x = (uzzt<< 26); ctte << ((doup )x) << "\,n; x = (uzzt>> 83); ctte << ((doup )x) << "\,n; x = (uzzt>> 200); ctte << ((doup )x) << "\,n; x = (uzzt>> -40); ctte << ((doup )x) << "\,n; } vCa---rdiud kiansrgssweru?(Co estc. Ge ncnarte r i.eMse r---crud k b ot,#rlksageg! rgsswer1.t["....(-urtty> -nea-annwo1. bsifus,ecan p(s kingfot ermbuiies: guigc.lt["is/> // ers: uzz]imtescpsataiA. Su_HOME #rint a "rint a/Fuzz].h" m () { Fuzz] n._clds(5, 1); ine,f("luzzyiv %f UPp._cldst u %f\,n0 4.0,p._cldst>> 4.0); } vCeedtrimhnce tixpITOpiasb trts to ias[vnexbuiierkopoiod rm at ud aWt din kupredgifu? rgsswer2.t["....-urtty> oINTS:ingP uzzyitt if doxbuiierean ways ukingp(c] . -u/varia#n>-u/varia#n>-- ev hap (s> irdspitle>P 1.0 A tle>"--uvaria#n>itle>P F) "--urtty> oiARTthket s awtulk V3teprixpjlotxppt terskiauL 1.0 : guigc.lt["is/> <BEHAVIORegh e="FdeoAngle"> ird<ARGegh e="imte"in ault_value="1.0" r2 `="doup "> e<MEMBERS> #n rkiFRONTSTRICE OF 5 blin:ook l i sh; e</MEMBERS> ird<AIVE,ATE> i sh = ual; e</AIVE,ATE> e<UPDATE> Fuzz] uzzyiv(.5, FRONTSTRICE O); // meemis doup /nd ous#on=deplkaNi->LowSonar.degGetRea["im(0); TurnEeccv(0.0); Spha Eeccv(1.0); // p.mclds IF (uzzyiv << nd ous#o)iTHEN Spha ixcSLOW; // Yprs4Lkies! IF !(uzzyiv << nd ous#o)iTHEN Spha ixcFAST; i sh = prur; e<UPDATE> </BEHAVIOR> -urtty> W r---rdirrr 33a b 1.0 , bmo n/ Cd ptorywo Ypsdiimpoeinuptepodds th f'-an oaI antepy, koesey rkingPYes --skiee vplronum, luzzyssulp/grbeCaskicarerskingg middlg1. nd. "a-urtty> oINT:--rcan pu oartsay otfuzz] r #iomacs bde for ias bmo n/ ushiW tyse grlueasirept casn2."d r--nyse tackrsrly naiting tplrorskin . gu]mor. -u/varia#n>- --c ev hap (s> itle>P riagesA tle>"--uvaria#n>itle>P riageeMspe-"--urtty> At useiohpe-ordadt byuprsarsiagesEioh ti useioc cas----yiv wnev L 1.0 Iort uparledsefuf ( < guigc.lt["is/> < useigh e="L ed_ use" i iial="yes"> e<L 1 r2 `="Bump_L 1.0 "igh e="bump"></L 1> e<L 1 r2 `="FdeoAngle"igh e="ro use"></L 1> e e<ENTER> doup /momporum; doup /ang =deplkaNi->polGetMax().t; --c t/as(ang >3.14)/ang =ang -2*3.14; --c tfine,f(strimr,"ang usei%f; ",ang ); --c t/as(/ang < 0 )/momporum =d-0.50;--c t/as(/ang >= 0 )/momporum =d0.50;--c tfine,f(strimr, "OnAveruseiL ed_ use\,n); e</ENTER> e<EXIT> fine,f(strimr, "dsoverahysS4L ed_ use\,n); e</EXIT> e<1is) "sr"> /as(/ro use. i sh ) { Gotoriage("M tr_ use"); fine,f(strimr, "\ngonan:t-an use\,n); e } fine,f(strimr, "STn); e</1is) "sr"> < ulyrg"> </ ulyrg"> </ use> < useigh e="M tr_ use"> e<L 1 gh e=" dvan--" r2 `="M trAhea["></L 1> <tie -> fine,f(strimr, "OnAveruseiM tr_ use\,n);</tie -> <txit> fine,f(strimr, "dsoverahysS4M tr_ use\,n);</txit> <1is) "sr"> /as(/ dvan--.cldswvani) { Gotoriage("Ct uDlyc on0 "-.5n); e } fine,f(strimr, "MTn);</1is) "sr"> < ulyrg"> </ ulyrg"> </ use> < useigh e="Ct uDlyc on> <yrgigh e=" userttym"in ault_value="100.0" r2 `="doup " /> <meuiies> blin:odoup /maxnd ous#o; </meuiies> <L 1 gh e=" dvan--" r2 `="M trAhea[" /> <L 1 gh e="bump" r2 `="Bump_L 1.0 "i/> <L 1 gh e="ro use" r2 `="FdeoAngle"iyrg"="xnd ous#o"/> <tie -> xnd ous#o =d0; doup /rvaronang , /momporum; otdd(rvaronang =0;/rvaronang < FRONTANGLE;/rvaronang +=1) { /as(/eplkaNi->LowSonar.degGetRea["im(rvaronang ) > xnd ous#o ) { xnd ous#o =deplkaNi->LowSonar.degGetRea["im(rvaronang ); omporum =d0.50;--c t } } --c tftdd(rvaronang =3.14*2 ;/rvaronang > 3.14*2-FRONTANGLE;/rvaronang -=1) { /as(/eplkaNi->LowSonar.degGetRea["im(rvaronang ) > xnd ous#o ) { xnd ous#o =deplkaNi->LowSonar.degGetRea["im(rvaronang ); omporum =d-0.50;--c t } } --c tfine,f(strimr, "OnAveruseiCt uDlyc o\,n); e</tie -> <txit> fine,f(strimr, "dsoveraheiCt uDlyc o\,n); e</txit> e<1is) "sr"> /as(/xnd ous#o > FRONTSTRICE OF) { Gotoriage("L ed_ use"); e } /as(/ro use. i sh ) { Gotoriage("M tr_ use"); } fine,f(strimr, "CTn); e</1is) "sr"> < ulyrg"> e</ ulyrg"> </ use> < useigh e="Cerri_ use"> e<L 1 r2 `="Cerri"igh e="CerriL 1"i/> <tie -> fine,f(strimr,"Cerri useioverahed\,n); e</tie -> <txit> fine,f(strimr,"Cerri useidsoverahed\,n); e</txit> </ use> -u/varia#n>---c ev hap (s> irdspitle>P Eit_o; cA tle>"--h --c ev hap (s> irdspitle>P R wrH Tttftdduntia#nian i en o a/tiA tle>"--h --c ev hap (s> irdspitle>P Links toi-an test/p'sp impor ifusA tle>"--h --c --citle>P Assweru"--urtty>Asswero e-e abfiARTi gu]mor vip re> 1 0.822222 0.811111 1 0 Wgrpo-rcanlds? -urtty>Asswero e-e abvaroso omp]mor vip re> uzzyiv 4 UPp._cldst u 0.25p55 Mse rs2p? -u/pearndix> "-- C 'fileMse tpyyy3527102605267yyyy1370ustar dblankfaculty# M eMse to e-e abPC 'filyo oni-.t/ols.c. " tlus/I0.tate#ks/Khef/beS0.tate#k:i d/Khef/beeMse tMse t.cfg Mse t.src echo -e "#!in /sh" >itlus/I0.tate#ks/Khef/beS0.tate#k echo -e "SIM_DIR=$(RWD)/I0.tate#ks/khef/be"t>> tlus/I0.tate#ks/Khef/beS0.tate#k c/itd/Khef/bee>> tlus/I0.tate#ks/Khef/beS0.tate#k chmoa c+x tlus/I0.tate#ks/Khef/beS0.tate#k rle b:: - $(RM) tlus/I0.tate#ks/Khef/beS0.tate#k - $(RM) -.t/ols.c. " C 'fileMse t.srcpyyy3230102630331114447ustar dblankfaculty#bPC 'fily-yo on",ikst_of_ocecd s): ine,lotle>"-h : # -n:da reeu p/dr kingw kackahirnCd en:da i e ulup() # -n:da reeu soueinup(*.c,*scps) kingw kC 'fil.ch era.odey]u._odey]us # E[" .c or e ulup()ibewPh # -n:da 2kup ech era/odey]u/Ddey]u.i: # 1. #rint a "new_odey]u.h" # 2. % procf'"new_odey]u.h" # # Todo: # -n:da e[" .c osore : # -nkC 'fil.ch era.bt848 # -nkC 'fil.ch era.V4L # -nkC 'fil. 'fil.'rrect.saphira # -nkC 'fil.I0.tate#ks.khef/be.* # -nkC 'fil.tools.ct se - # -n heck sth anskingg macros/libs/lib s gridsha ed # (currenely nony u drH my Cygwinis.env hsifus) # ?n uto en:daysS4odey]us procf'os, glob okind outil.rmrpr procf' ulup okie["NNRa outilr procf'AutoIint aE[" .c o, \ h > f, "#encean tean uto cly ob.geomlhed -ndop kiedit" ine,lo>> f, "defuols.c o(): return %r" % RO/bBOT_VERSION f.clds() to ia: ine,lo"Catrseaseer-.t/ols.c. " t!" s#std_macross= [("_POSIX_THREADSn0 Nony), # ("_POSIX_THREAD_SAFE_FUNCTIONSn0 Nony), # ("_REENTRANTn0 Nony), # ("POSIXn0 Nony), # ("__x86__n0 Nony), # ("__lux, __n0 Nony), # ("__OSVERSION__n0 2), # ("USINGTHREADSn0 Nony), # ("LINUXn0 Nony), # ("_GNU_SOURCEn0 Nony)] # n nt a_ ss= ["sr/l/vic l/rint a"] library_ ss= ["sr/l/vic l/lib"] #sr/l/X11R6/lib"] s#std_librariess= ["stdc++n0 "X11n0 "Xtn0 "Xmn0 "dln0 "pthadybn0 "Xpn0 "Xe[""] s ulup( #(o adata gh en=o"p on #(kackahiodata kackahi_ ata = { s'p 'fil.plus': [ s'I0.tate#ks/*S0.tate#k',s'I0.tate#ks/PlayerSvPhct', h ]0 h cmdcla ki= { s'd_nosg' : BdNoSg, s'd_e["_no_sg': BdE[" .c oNoSg, s'd_e["': BdE[" .c o, s}, ) tC 'fil/kidoc. py631510260523457yy14253ustar dblankfaculty#!sr/lrn /env p on 1.0: h maxWid? : maxWid? r=olayerCanvas.." Wid? () return maxWid? defu." Nh eLd (lf a): return [ .t[0] re in.tr nilf a.nymeSizeLd ] defu." VLd (lf a): return lf a.blyLd defusetVbly(lf a,iblyLd ): lf a.blyLd r=oblyLd re inataixrt u(len(blyLd )): h "="SelariiLayers") h "("Network Averuscd s") h ugedary l") C 'fdtMan ertsr prlayIf too ab-y (> 50)/2.2':al,p' h ] ly s(lf a,inewAvers): re inatlumnspan=len(letSnruc.lde. Lvl h "(rtt[.layerObj.size) re ivertt[r nilf a.netSf a.calcFullWid?d )] rg C1, l=0) [ r=o[(vertt[.gh taresurtt[.layerObj.size) re ivertt[r nilf a.ng ])meLd )+1) h "="SelariiLayenev lf a.layersButtonLEFk(side=Tkiie -.Rngn0 lf a.layersButtonr= Tkiie -.Button(lf a.N"pthe, tt["="Layers..."0 N"pt(side=Tkiie -.Rngn0 lf a.layersButtonLEFk(s* ewAverply(l to"%u=0) f a.lde. Ftym] dsha edIndrOb: lde. Ftym] d a. lers([i]) l=0IGHT lers([i])upd[s_id..."0 N"ptks() defuapply(ldsha edIndrOb+ `): hariiLayenev .layerLos ersButtonNORMALl.bly = ] dsha edIndrOb:=apa tonr= T to"%u=0) l-1 defuapfuapply(lngn0 .layerLos ersButtonDISABLEDe>"="Selar FtymeLd )+1 l=0IGHT lers([i])[i])upd[s_id..."0 Pnevks() defuapply(ldsha edIndrOb- `): hariiLayngn0 .layerLos ersButtonNORMALl.bly = ] dsha edIndrOb:=a0 defuapfuapply(lenev .layerLos ersButtonDISABLEDe>meLd )+1 l=0IGHT lers(upd[s_idf a.=0) deers(lf a,in#tmoau t ugly, IGH ess. aral on"((lf a,inymeSizedsha edP C 'fn[f a.osha ed ]s(lf a,indsha ed = vLd layerObj.size) re ivertt[r nilf a.ng taixrt u(numNosha ed f a.ocf'. epocf'( r=o[(vertt[.gh taresu)]s(lf a,indsha edP C 'fn[f a.osha ed ]s(lf a,innr= T to"%u=0) [f a.osha edP C 'fn].upd[s_idIGHT=0) deers(lf a,inewAvers): re inatlumnspan=len(l u(len(blyLd )): lf a1, l=0) nr= T to"%u=0) [] dsha edIndrO]Vbly(b) h =netS hxbutton(len(nymeLd s[i]) l=0 hxbutton): l rlerDia lde. Ftym] d l=0 hxbutton (lf aeLAB_WIDTH a.numRow hxbutton)ze + (lf aeLAB_pORIZ_SEPlde. Ftym] d G ) pt[.layerObj.size) re i (lf aeLAB_plde. )a.n) pt[.layerObj.size) re i+ + (lf aeLAB_VER_SEPmeLd )+1 l=0Isra lf a.scaleCanvasr= Tk? =lf a.plo =lf a.plod Tkiie -.Canvasd G a.lde. FtymeLd )+1) + noDelsr: h ugedl h agahioin Ld s = [] re ivertt[r nilf a.taixrt u(numN = layerObj.sr nil(len(nymeLd s[i]) = ed% kac r=o[(ved% Ou u a.layerCanvaaaaa[i]) l=0IGHT 'fil.I(ed% . proVtonizeLd ed% .toVtonizeLd ed% .typvelen(nymeLd s[i])upd[s_idIGHTbutto(0 dosTup=o%sizeLd re inataixrt u( l=0Isra C. reeuangr) dosTup=o.c t[dosTup=o.1 t[dosTup=o.0]+ + lf(LAB_WIDTHt[dosTup=o.1 +anvas(LAB_plde. BdE[" .c o, \ h a1 defuapfuapptLoc"=m] top 'fil.I(eproLocelen(nymeLd sfinishLoc"=m] bottom 'fil.I(LoLociden(nymeLd s r=Off l"=m] (LAB_VER_SEP/2 lde. VarLd =""utLoc.c +finishLocf a./2 >=netSd /=netSd -1 defuapfuapueinn== b dLoc"=m] d -k1 lde. VarLd )) elsb dLoc"=m] (LAB_pORIZ_SEP -ranvasEXTRA_BUFFER*(cf' ant -2iden(nymeLd s[i])=""b dLoc"h e. i d(f tgh e) e. i d(f tgh e tt[Col=lf a.plo i d(f tgh eborderCol=lf nodeSi SCA+ lf))= l=0value h e. i d(f tgh e tt[Col=lf nodeSi SCA+ lfgh eborderCol=lf nodeSi SCA+ lf)) tt[Col".ploBG_GRAY #= zero, bl d in]wilel -naray SCA+ lfgh eborderCol".ploBG_GRAY* ewAver l=0.l defun0reeu,r l=0.enruc-off l,[ l=0.enruc-off l,[ l=0.enruc+off l+1,[ l=0.enruc+off l+1(side=Tkiie -.R"="Selar FtymeLd )+1#]how lalues c oxnetSnruc ()) h e. i d(f tgh etymeLd nilf a.lf a.upxd ]s(lf a,inverngn0 = lde. VarLd = laye.ch din tymeLd nilf a.ng taixrt u(numNrLd = ed% skac r=o.ch ed% Ou u a.layerCanvaaaaa[i])= ed% s.(ypv =lf f"a.layerLaed% s.(oVton) fdu a.layerCanvaaaaa[i])))))ed% s.(oVton) fd =k1 lde. VarLd anvaaaaa[i])= ed% s.(oVtonertt[.gh f ad =lf O"taixrt u(numNNNNNaaaaaaaaaaaaoutput f a.ed% s.(oVtolf a,inymeSize[i])anvaaaaa[i])= ed% s.(oVtonhatt"ptku(len(nymeLd s[i])))))))))))))))))bcset"ptEd% kac ed% s.(oVtoncset"pt(len(nymeLd s[i])))))))))))))))))))))cset"ptEd% .(oVton) fd =1 lde. VarLd anvaaaaa[i])aaaaaaaaaaaaoutput f a.cset"ptEd% .(oVtolf a,inymeSize[i])anvaaaaa)) elsr: ngn0 f a.ed% s.(oVtolf a,inymeSize[i])anvaaaaa[i])= ed% s.(oVtonhatt"ptku(len(nymeLd s[i])))))))))))))))))bcset"ptEd% kac ed% s.(oVtoncset"pt(len(nymeLd s[i])))))))))))))))))))))cset"ptEd% .(oVton) fd =1 lde. VarLd anvaaaaa[i])aaaaaaaaaaaangn0 f a.cset"ptEd% .(oVtolf a,inymetymeLd nilf a.lf a.output .lde. Ftymei_HEIutto----= "__main__"taixr# = h ertsr prlatop spacerrttporwena,irtxSpacer ertsr prlaras #b END GUI SETUP ----ymeLd _idlddPoineasr= Tkn sTup=odefu." VL""i SCA+ lfAdds". poine ona,irtxMax wAkn sTup=o 1 >a,irtyMax. i d(f tgh e= n sTup=o >a,irtxMax(len(nymeLd s[i])oldXMax a,irtyMax. i d(f tgh e[i])oldYMax e. i d(f tgh etymeLIGHTb au inaHe] D sng .c t[ inaHe] D sng .1 ,n sTup=o ,n sTup=o 1 a.ly(ba,irtHe] D s f a.n sTup=o]meLd )+1) h "(r"(r/}}}s maxWfu." VL""i SCA+ lf" Wid? (ws =dia,irtHe] Ablyrcesul" =lf "))/=netSxMax)*x.upd[s_idyToleCanvasr= Tkyiefu." VL""i SCA+ lfConvr=os". y value on"(r"(r/}}}s maxWfu." VL""i SCA+ lf" Wid? ws =dia,irtHe] Ablyrcesul"i ")) - (ws =dia,irtHe] Ablyrcesul"i "))/a,irtyMax)*y SCAupd[s_idIGHTPoineasr= TkxTkyiefu." VL""i SCA+ lfDGHTs]. poine (x,y) "(r/}}}s maxWfu." VL""i SCA+ lfa,irtHe] Ablyrc oval(d ))xToleCanvax),Ld ))yToleCanvay),Ld ))xToleCanvax),Ld ))yToleCanvay)a.upd[s_idIGHTb au inTkx1toy1toxttoy2iefu." VL""i SCA+ lfDGHTs]. ds[1="(r/}}}s max c'fil.Ing (x1,y1)".lay(xtty2i.fu." VL""i SCA+ lfifka,irtds[1sOn. i d(f tgh etymeLHe] Ablyrc l au inaxToleCanvax1),Ld ))yToleCanvay1),Ld ))xToleCanvax2),Ld ))yToleCanvay2),L =lf a1id? =lf a.ploWid? ) h a,irtyMax.*dia,irtHe] ee] G +1-i)/anvasee] G r+= [Tvecer hxAbs"=m] o{{{MaxyiiLayTICK_vers): re iny0,0o.ploeeds[1].ploBG_GRAyiiLayTICK_[i]t[iiLayTICK_LE newyC s = =Ld )#\ r) tpl=0IGHT = []wi)yTolmLd ="Save ,L tt["=a.plo)(lf a.c." (r_cttt , y/}}}g\ Vope(up=ers(Asreeulog" VlmLd /}}}gi])eiredsh deeutto "i SCA+" VLCalllp= ( -n ing o ( -allWEGIN l.I..ers(As(lf a,inl d a,irtHe-allWEGIN i d((rs([i])corntry, tt["="L.loseCall "))tHeope(( a,ir, "wtt[".ploNUM_BGCall "))slmLd BG_GRA[iime(T+ "\t"f abs(t2yiime(T+"\ntt[".ploNUM_BGCnax. l Tkn sTup , a.ly(b= M_BGCall "))slmLd BGtr/. l .c )T+ "\t"f abtr/. l .1 )T+ "\ntt[".ploNUM_BGCall "))su.lddd YAxis leexcepi SCA+ lfewAp i d(error(lers( Error", "WmLd s(lfoGCall faalld.tt[".ploNUM_BGGGGGGGGG=o]meLd ) TlmLd =" ,L tt["=a.plo)(lf a.c." (rTogersB h (lflambdayier:} sTier e) = (lflambdayier:} sTier e) a,irty=0IGHTTSS)ly(ba,irtHTSS* ewAsickyersButtE_COL, 1]+nod oces.s:")C 'fils.s=gri.tRMS* ewAoVt r* ewAver l.g25evisu]hnv )ft[iiLayT.layeRMS ",.ldd_c >a,irty=0IGHTRMS)ly(ba,irtHRMS* ewAsickyersButtE_CO h a,irty=0IGHTPCord se)ly(ba,irtH(Cord se* ewAsickyersButtE_CO3me l=0value C =netSre"who-.Butt.ecerdisplaylfDG.gri1.reeuM-----y(baC 'fil.tlu3t1].g25evisu]hnv )ft[iiLayTCblyLd r=onbg=anvasOUTSIDE_CO4 ) pt[ ie -.MW)ly(ba i__.gri1.tymeLd C 'fil.tlymebox].g25evisu]hnv )ft[.g2Ld [(ov d C 'fil.tSINGLEwena,irtx4 -.Ftyme):4tHe anvase.gri1.tymesickyersButtonW5*4 ) pt[ ie -.M eiefuaVto ma #eiefuaVto BEGIN GUI SETUP ----toputnv )f.tlus.sanv )f a,in..5]a.ececd".uoputlu3t1nv )f.tlus.sanv )f a,in.toputnv )f.eLd hhhhhC 'fil.tlu3t1]uoputlu3t1nv )ft[iiLayTCblx Cod_c s:"uldE[" .c o, \4 h " ))yTol=0IGHTCbd_c .eLd hhhhhde. F bd_c ENGry.pack(sids[1she, ttLEF/,expc 1she, ttYES )xTole i a#g2) -LCod_c >eiefuaVto ma e anvase,Ce r+= l howValue esult)m re"wh,verloadlfDGmethodsaixr#i_HEIut/aixr prLd )+1.gh izeL.lSlddEdbosityangr) r+= [TvNwAverew+1.gh izeL.lSlddEdbosityadEdbosity.eLd hhhhhde. Fid? ) ('hidure.4, sTup=o]meLd #..lailgh izes[.lattobtluLd s[r) r+= [TvNwAvere#..lailgh izes[.lattobtluLd s[eLd hhhhhde. Fid? ) ('hidure.4, sTup=o]meLd els[ proelgh izes[.lattobtluLd s[r) r+= [TvNwAvereels[ proelgh izes[.lattobtluLd s[eLd hhhhhde. Fid? ) ('hidure.4, sTup=o]meLd #FUsefLd swen l=0tpos[.l h f to h [r) r+= [TvNwAvere#FUsefLd swen l=0tpos[.l h f to h [eLd hhhhhde. Fid? ) ('hidure.4, sTup ma e sewLd =I .Show supfal[r) r+= [TvpyLd =Ld )#=0IGHT = tymeLrror he, lfDGc(ove sewLid? ) orweldelo "=d wUP ----ymeLd _inesd olayerLabeASTrSCA+ # sTd wUP ---xrt u(numN IGHTTSSnrse(c=netSre"w1)".lay(TSS ers): re inTSS " ( trot[".ploNUM_BG_GRAYTSS e. atoly(baM_BG_GRAYTSS* ewAs ( g2Ld d YAxis lee ))yToleCanvay2),L =lfTSS e.= [] nvase,Ce an75smeLd ySS ",.i_o; DialEpoch",Dialoy.__ySS Error", 1.griHe] , w,irty=0IGHTTSS)ly(ba re inTSS ")+1) HTSSiie )ly(ba re inTSS "pintoa,i("WM_DELET %arNDOW" ))yTol=0IGHTTSS)ly(ba re inTSS* ewAs g2Ld d Yrt u(numN IGHTRMSnrse(c=netSre"w1)".lay(RMS yToleCanvay2),L =lfRMS " ( trot[".ploNUM_BG_GRAYRMS e. atoly(baM_BG_GRAYRMS* ewAs ( g2Ld d YAxis lee ))yToleCanvay2),L =lfRMS e.= [] nvase,Ce an75smeLd RMS ",._o; DialEpoch",Dialoy.__RMS Error", 1.griHe] , w,irty=0IGHTRMS)ly(bay2),L =lfRMS ")+1) HRMSiie )ly(bay2),L =lfRMS "pintoa,i("WM_DELET %arNDOW" ))yTol=0IGHTRMS)ly(bay2),L =lfRMS* ewAs g2Ld d Yrt u(numN IGHTPCord senrse(c=netSre"w1)".lay(pCord se -blpoines 1s1 6 Cord se " ( trot[".ploNUM_BG_GRAYpCord se e. atoly(baM_BG_GRAYpCord se* ewAs ( g2Ld d YAxis lee ))yToleCanvay2),L =lfpCord se e.= [] nvase,Ce an75smeLd Perc tplCord se",._o; DialEpoch",layerLabeASTr =lf a.ploLIN aaaaaaaaaaaaaaaaaaaaaaaaaialoy.__%lCord se",.1.griHe] , w,irty=0IGHTPCord se)ly(ba1s1 6 Cord se ")+1) H(Cord seiie )ly(ba1s1 6 Cord se "pintoa,i("WM_DELET %arNDOW" ))yTol=0IGHTPCord se)ly(ba1s1 6 Cord se* ewAs g2Ld d Yrt u#=0IGHT = tymeHgri1.reeuM---Gc(ove sewLref=0thHgri1.tyme(rse(c=netSre"wnvase.gri1.tymespe a.e(0,las a.scal.gri1.tymessen uv ."ewLd rwena,irttFtym] c'ff a.lfc'ff a.lftymeLd n") defuapoutput..latepr+25e,iiLayee] newENGry.tl"F[.l: %s To: %s slaLd n,(ypv,c'Obj.s,eLd ns[i])))n )f.eLd hhhhhre"wnvase.gri1.tymesinsert(0, newENGry.eLd hhhhhre"wnvaserwena,irttFtym[newENGry >aLd ntporwen ine,lUn h a,irty.gri1.tymescur g2Ld rtt(sult)m re"wwwwwn sTupcurd Inde p=o 1 a.ly(b= rwena,ia,irtHenvase.gri1.tymesietpcurd Inde [0]e[(Dels[.lattobutto iz def.gri1..4, s[ietpcwena,ia,ir,0 [] re def.gri1..4, s[cwena,ia,ir >a,irtyCblyLd r=i.5 0.nvase,Ce anvaserwena,irttFtym[cwena,ia,ir vlayerLabeASTr =l def.gri1..4, s[cwena,ia,ir "pintoa,i("WM_DELET %arNDOW" )lambday macwena,ia,ir: = lay( trHgri1..4, dn )f.tlu3rid WieHgri1..4, d , rLa r=o[(Dels.hrLid.4, -e. def.gri1..4, s[tto i=netSre"wnvase.gri1..4, s[tto i e. atoly(barLid.4, " ( trot[rt u# =0IGHT = tyme.Ftyme):archita,iurereeuM---rt u(numN IGHTi_HEIutArchnrse(c=netSre"w1)"o iz def rch.4, SCA+ lfewApoines rch.4, -e.Arch.4, .Arch.4, .nvase,Ce defuapoutput.eLd hhhhhre"wnvase rch.4, "pintoa,i("WM_DELET %arNDOW" ))yTol=0IGHTi_HEIutArch)ly(bae ))yToleCanvay2),L =lf rch.4, " ( trot[".ploNUM_BG_GRAY rch.4, -e. atoly(baM_BG_GRAY rchosickys ( g2Ld d YAxis leeeeee sewLref=0thArch.4, .nvasc=netSre"w1)".lay( rch.4, SCA+ lfewApoines rch.4, " ( trot[".ploNUM_BG_GRAY rch.4, -e.Arch.4, .Arch.4, .nvase,Ce defuapoutput.eLd hhhhhre"wu3rid Wie(rse(c=netSre"wnvase,Ce ( trot[rt u#=0IGHT = tymeldd_c > vrt u(numN IGHTCod_c l=0tpor) tpor)5*upd[snvase,edid seToWEGIN ot[".ploNUixr#sttlfDed% f a.sttlp >> "f acod_c 1eLd hhhhhtry, tt["="L.loseexece.ld_c .ly(baexcepi SCA+ lfewApry, tt["="L.loseeeeeexece.ld_c 2 tt["="L.loseexcepi SCA+ lfewApLabe_idch de. FtymmatExcepirttInfod YAxis lee ))yToleCanvay2),d niret"="see. ator a.ly(b= Labe_idch iret"=")5*upd[snvase,edid seToTerminald Yrt u(numtymmatExcepirttInfodl=0tpomaxTBeCall=1c=netSre"w1% f a.sys,prace , layerLabe.la )exc,prbAoVtsys.excalffod YAxis lei])eia ", YAxis leexcTbl.I.race , Ftymmat_tb(rbApomaxTBeCall YAxis ler"(r/}}"%s: %s %s slaLxca,ir, excAr s.c t["ytickd_c > v" Yrt u(numlmLd BG_GR,xes cr=o[(Dels.hrry, tt["="L.lose_ihe]tiLaO'hidd.].plo(de Ls['nymmal't[".ploNUM_BG_GRAYtiLaO'hidd.insert('end',}"%s slaes crt[".ploNUM_BG_GRAYtiLaO'hidd.].plo(de Ls['disr) ad't[".ploNUM_BG_GRAYtiLaO'hidd.see('end'vlayerLabeexcepi SCA+ lfewAppyLd,Ld ))yToleCid seToWEGIN orse(c=netSre"wu1ton srs(up=otsys.stdou ys.stderNo -porwelde. F ysstdou oVtsys.stdou o -porweldys.stdou -e. deu# =01toxlmLd B)Gmethodo -porwelde. 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V="La should be _(tth rUsef [0,1].o -porwel"""blpoiiiii#i]) defdEdifyt Vo iz def Showf a,iSet-e.o a.ly(#iiiirse Ld sError,eK_LE -4#is leb= ('AShowf a,i-fl, o iz,e 'f..AShowf a,inpmayehrs(ubeen 'fimipll time bgn=ou -anyaIutto%enlfDGca+= VpinpaglUn().',envaseaShowf a,iSet) SCA+ lfe1)"("="La moldYMmaxAShowf a,iccs Vseay(klfd lla'Ioput' a.ly(b= _idch WarnlfD!.AShowf a,inp 'fi V"="La outsideo ti _(tto%al [0, 1].w", (,irtHnhowa.array)tblpoiiiiinvaseaShowf a,ie.arrayblpoiiiiinvaseaShowf a,iSet-e.))rt u# target-methodsporwen ig =Targetstymeorse(c=netSre"w"""blpoiiiiiR"(r/}sAtargetsr lymeLtymm.o -porwel"""blpoiiiiir"(r/}}s retarget.tolyme()porwen ig =Targets(rse(c=netSre"w"""blpoiiiiiR"(r/}Atargetsr (Numeric) arraytymm.o -porwel"""blpoiiiiir"(r/}}s retargetporwen id =Targets(rse(a."="Lac=netSre"w"""blpoiiiiiSets a+= ))rt u# ms=(s a+= )+!Show - orgumFet. V="La should be _(tth rUsefarray),p,irtHs h [)] losei]) defdEdifyt Vseay(se(,hccttbaws.o -porwel""difyt Vseay(targ) sl.Ft'Ioput' a(r/}}s o izalui"#yz,e 'f..ASh [)] fimipll tit', tt["="L e Ld cttt ,tymeld s of.dpo ezeroo ti _(tt'a.K_LE -4 yLoct[[[[[[[targ) sl.F"('Ioput'g"="La=.\'ta iwel"""anyinb= M_BG#_idch reles.o -porwel"""bl hxAbs"==mold"La molwf a,ie.arrayCA+ lWFtymo"i rhetorgumFet."="Lf") * epsilonYAxis lenvasetargetSet-e. hxAbs"==moldYeir"(r/}}s.ldd.tolyme()porwen ig =Targets(rose#sno r}}atG , pCA+ WFtymo"i rhetorgumFet."="Lf") * epsilonYAximoldYeir".add.ls[un.ldd.tolyme()porwen ig =Targets(rose#sno rwf a,ie.arrayCA+ ow - VpinpaglUneaShowf a,is.o -etSet-e. hxAbvees et thrownairopT .blpoi"""bc'fil.ILd s[] "refer [] blpoiiwol iro (=o[(Deorito)idoritympoi""wnvas(lf ai]hpotymmf a,if '__mLrror bias, etcidori anvasebed', nvasebed)Yrt u#"blpoi# cbls('hTk .e.els[ prlgh izesutTk a.nhow, s h [=netSre"wt thrownaixr#eFms=dim(nblpoiiiists asourc[('Misetarget,iestinbed', iro tymeti _(staanvterl _yLdtd 01torgumFetTk .elo -k .etorgumFet."="Lfoelo foetorgumFet."="Lci*an"d =BatchV0[ anvasedEdifyLd lf ai]hpo dtTk a.epsilon[=netSw", ;wnvas(prray>molw sError,easeTa etaanvterl _yLdtd 01torgumFet).o -porwel"""blpoiiiiinvwnvas(ps h f 'f' YAxis (umFetTk .evasebed ,tymeld s of.dpo ezero.'a.K_LE rgumFet."="Lfoe yLocut-e.Numeric.zeros(nwases h f 'f' YAxis (umFetTk .evasebed ,tymeld s of.dpo ezero.'a.K_LE rgu."="Lfoe yLocut-e.NumerimoldYMaShowf a,iSet-e. hxAbsLd r Vompo "="Lawnvas(lverErlon[iiiIf ai]hpo nodebiasas Vr Vom="="Las _(tth rUsef [-maxpomaxwnvas(ps h f news h [(umFetTk .evasebed ,tymeld s of.dpo ezero.'a.K_LE rgum."="Lfoe yLocu,tymeld s of.dpo ezero.'a.K_LE rgu."="Lfoe r VomArray(svaspoiiiiir"(r/}}s re,po e n i=ray),p reIndexc.els[ prlgh izestyme "oews.).blpoi"""b.ly(bs beenf aoRe 's'deTk .evch , foe ch cglUn().',envasTk .evlfd + "):"blpoiiiii1)"(nvasetypTk .evlfd + 'Hidde. a.ly(s h nvaTk .evdYMmaxASh"blpoiio Save'], ')')))))Tk .evdYMmax 'Hidde. a.ly(eaShosTk .evlfd + "): vitye iii1)"(nvasetypTk .evlfd + 'owf a, a.ly(s h nvaTk .evdYMmaxASh vitye o Save'], ')')))))Tk .evdYMmax 'owf a, a.ly(Shosfoe lfd + "):osity > 4t Vseay(ty "oews.).blpoi"""b.ly(Ctrivees(n beenf aoRe ''deTk .evch , foe ch cglUn().',eeaShosfoe lfd + "): vitye iii1)"(nvasetypfoe lfd + Sh"blpoii a.ly(s h nvafoe dYMmaxASh vitye o Save'], ')')))))foe dYMmaxSh"blpoii a.ly(hhh,ittrivees(nfymeir) Ctrivees(Tk .e.els[ )tr"(r/}}saddThrehrough retarginc, hidc, beecrwen id =L(nvas ))xTCiMeth, ' yguitSmatchtlpoiUstd"=ror' re"w",'hidde. ,idork a.nhow,'oblpoii irof a,ife =TaYAxis lenvaseddec' re"w",incsTupnvaseaShowf ddec'hidde. ,ihidcsTupnvaseaShowf ddec'oblpoii, beecr a.ly(hhh,ittrive(' re"w",'hidde. r a.ly(hhh,ittrive('hidde. ,i'oblpoiiSre"wr"(r/}_(eVirtH bed', retargetporwen id =TaError,e('gi 4t Vseay(ty "oews.) tohhhhh,etargquirnvas nesac=lpatomaplpoi [[...],[...],...].'HTrld dlf a,ife orwenh [eLd hh erld lf a,ife o Savety i hxAbs"0] *fyrUief(n)rld dfoe ))))) a,ife xrUief(n)rld dTk .evaseb t Savety i hx[ii'Cb"e TkkkkkusResult-e.Numer Warr,blpoiiSmateIoput'ghxerie ,es SoHTtabl d0ilon[pos]5e sewLrLF =Taowptiblitysnoeayh Warnl.oblpoiiiiild l"""blpoitabl dIoput'ghxeripoiiiiinvaseaSi VSh"" retargetporwen id =Targets(ri VShow -respe bgsf a,ife difyt Vsea)a.lyut'w,lude ni VSh"array),p,irtHsYAxis ld + "):osity > 4t Vseay(ty "oews.) towf a,i-dpargquirnvas nesac=lpatomaplpoi [[...],[...],...].'HTi VSh"l.oblpoiiiiildh [eLd hhhror (0ddo .rg tohhhhh,AndpoiiiiinvaseaSo -p1aSo -p2= hhh"" retargetporwen id =rwen rlg tohhhhh,Andpoiiiiin)wen id =Targets(rr+ewAdmapo -pi h f"urr s Can(s a+= hhhhmapefelpoiYA,le sewLrLF =iYA 1:g tohhhhh,Andpoiiiiin[[rld0HTi VS0], nrld1HTi VS1]...] e<(idorporwen rlg tohhhhh,Andpoiiiiin[[[i00HTi01HT...], [t00HTt01HT...]_idwavas([i][j]poi""""""""""""""""""""""[[i10HTi11HT...], [t10HTt11HT...]_idwavas([i][j]poi""""""""""""""""""""""...] e<(idorpoF =iYA 2:g tohhhhh,Andpoiiiiin[rld0HTrld1HT...], [t VS0HTi VS1, ...] e<(idorporwen rlg tohhhhh,Andpoiiiiin[[i00HTi01HT...], [i10HTi11HT...],...],dwavas([i][j]poi"""""""""""""""""""""[[t00HTt01HT...], [t10HTt11HT...],...]va.ly(mw -respe bgsf a,ife difo -p2 1)" hhh:efwen iYA #1dwavas([i][j]h [eLd hhmap(lambda x: x[0], o -p1'a.K_LE -4 [eLd hhhmap(lambda x: x[1], o -p1'a.K_LE iztt,efwen iYA 2dwavas([i][j]h [eLd hho -p1a.K_LE -4 [eLd hhho -p2l.oblpoiiiiild lhhhhh,erld dlf a,ife orwen towf a,i-di VSh"l.obl.el [eLd hees SoHTve retabhoTk ."==moltodsporwen id ve /}}s /}t "oabhoTkowf a,i'csuls autTk-h [eLd hh le,iquenngo }s morworeru [eLd hhhhh,ittri(ve retabhoTk "l.obl.emaphhhhh(nvases A.o -p retsigmoid_) lude 'Cbl iLa prlgh izesutT A.o -p r/}t "oigmoid"="h [eLd hr+= (e"wverride a,ife =TaY[eLd hr,ittri( A.o -p retsigmoi "l.obl.emaphhhhhinvaseaSveesOigmoiPairh"" retarget h fpaireLd hh OigmoiPairhk .evaseb t Savmaphhhhh(pair[0], pair[1]"l.obl.emapwf a,i(nvases A.o -p retsigmoid_) lude 'Cbl iLa prlgh izesutT A.o -p r/}t "oigmoid"="h [eLd hh}}atG , pCA+ WFtymo"i rhetorgumd hr,ittri( A.o -p retsigmoi "l.obl.emappoiiiiinvaseaSveesOigmoiPairh"" retarget h fpaireLd hh OigmoiPairhk .evaseb t Savmapwf a,i(pair[0], pair[1]"l .e#"h [eLErs. xrUi poiiiiinv -4wf -e.Numeri hx ):bgn=# general methodspor-e.Numers t Savety i hx,ets(rh [eL.h .blpoih [eLd wAp'ithl.oblpoiiiiild lhhhhh,e)/}sARe(c=tSid Vr Vom="="Las _(ttler+ebs"0] *fyrUief(n)rld dfoe o Savety i hxAbs"0] *fyrUief(n)rld dfoe ))))) a,ife xrUief(n)rld dTk .evaseb ic.addint(dtd 01torgxps h f xrUief(n)rld dT .evaseb "bl{}h(ler+[p[[]YM=(nvasetype !la'Ioseb ic.addint(dtd 01torgxps h f xrUief(n)rld dT .evaseb ler+[p[[]YM 1 .evaseb t Savety i hx[p[[]YM i r VomoByNVea.nhes SoHT ea.nh1HT ea2t[rter}}s retarg))Ld copyAShowf a, ea2 ore"w ea.nh1ls ursdaxireeaS n-pomakldoif ) h/}sNnec(nvrynsilog tbhrowShowf a,i-fl, .p tbhrowShpoiiiiin)wen id =iR"(ead Vr Vom="="Las _(tt ea.nh2ty n V"reeaS norones(s( ea2sAti w(tSreng"="LaToexrUi ea.nh1), xrUi ea.nh2_LE -4 yLoct[[[[(s),pfoe playWFtym)blpiccs VhownenvaVea.nh"[",t ea.nh2[rter:rter+reng"=l"nlft[irineii=.elsuitTr a.ly(s h xtert[rter +Sreng"=vasetype !la'Io ea.nh1[p]YMmaea.nh2[il"nlft[irii[0]p(,i))a."="LacblpoiiiiinvaseaShowf/}}saddcbct[rter )', lude 'Cbl iLa prlgh izeswf a,isorse(a.arr(cbcaixins"==bhrownwAifer [] eaS th"wach nt "pomakldoifNnec(nvryn Vr Vom="="Las _(tt ea.nhty n V"reeaS norones(s( eaLE -4 yLoct[[[[(s),pfoe playWFtym)blpiccs Vhownenvapoiiiiinvas"[",t ea.nh[rter:rter+rrivees(dl"nlft[irirriveacblpoiiiiinvase ea.nh[rter:rter+rrivees(dl)i))a."="LacblpoiiiiinvaseaS/}}saddcbct[rter )', lude 'Cbl iLa prlgh izeswf a,Targets(rsecbcaixi=bhrownwAifer [] eaS th""pomakldsf a,ife difyec(nvryn Vr Vom="="Las _(tt ea.nhty n V"reeaS norones(s( eaLE -4 yLoct[[[[(s),pfoe playWFtym)blpiccs Vhownenvapoiiii"[",t ea.nh[rter:rter+rrivees(dl"nlft[irirriveacblpoiiiiin ea.nh[rter:rter+rrivees(dl)i))a."="LiiiD -p ):bgir".utoCrossVnep[[ lo -methoido#FUse"rld": orwenh [eLd[il}E -4 yLoct[[[Targetsk .evaseb t t["tabl "(ty n V"Targets[il"nlft[iri."="Laporti))a."="LiiiD -prossVnep[[ lo -methoial methodsporwen i= xrUief(n)rld dd + "):osity > 4t Vray),y "oews.)iiiD -pr)"pomaklls yodn'teee bep[[ E -4 yLoct[[[[(s),pfoe= 1:giccs VGetnpoiirld"bep[[, "...gsf a,ife difxrUief(n)rldd ha 1)"nvasedEdifyt V4t VeError,e('g"0]roByNero[orwenh [eLd[p[[]a.K_LE iztt,efwmaphhhhhido#FmanuallyasedEdifyt VfnAShows le bhrrldd hasetype !la'Ioseb s irNsigmoi ioRaxpssetype !la'Ioseb 4t Vseay(ty n V"h [eLd[p[[][sigmoi:sigmoi+n Vd ires(dl"nlft[iriyLoct[[[[(s),pfoe1:giccs VLty poiiirUi "bep[[, "...gsf a,ife difxrUief(n)i VSh"a1)"nvasedEdifyt Vrgay(kkok,yz,eror (0ddoriteh cgxrUief(n)i VSd ha 1)"nvasedEdifyt V4t VeError,e('g"yrUief(n)25-yLea-1]roByNero[orwenTargets[p[[]a.K_LE iztt,efwdo#FmanuallyasedEdifyt VfnAShows le bhri VSd hasetype !la'Ioseb s irNsigmoi ioRaxpssetype !la'Ioseb 4t Vseay(ty n V"Targets[p[[]a.K_LE hods nvasebed .e#"h [eLaS(rg"=ror,irt,Ers. xrUi vr"(r/}_(ei))a."="L)a.lyut'g"=ror,irtH ):bgn=# general methodspoChxAbfnASorphanwAifer s =TaYAxis l[.mAs ursdap iaSmodtdyenvaaaaa(rg"=ror,irt.h""feed-fnAwardcr V-cycles).oChxAbaYAxis vitysoChxAbseah le,iquenngo }s mor#ts(rose#sr,o iztt,setytes (0ddoritehhh,ithhhhhiM 1 .evahhh,ite iM 1eva .evatabl p riFer+ebs1va .evah [eLp riFer+ebs1 }s mor#t 1)Showfifer s rs. aYAxis l[sf a,ife difxrUief(n)25-yLea 1)"nvasedEdifyt Vo iz seay(ty "oews.)Noels.h"s""bhtred/iismatchtd 0Scttt ,tymeld s of.dpo eto Save'], ')sf a,ife difxrUief(n)aYAxis l[a 1)"nvasedEdifyt Vo iz seay(ty "oews.)Noels.h"s""aYAxis l[.iismatchtd 0Scttt ,tymeld s of.dpo eto SavaYAxis l[a }s mor#tifer s oa,isrf),p,Showfns"==p r/=.dpo ezero.'#sr,x, ko-.B[(x, k)'#sr,x a,ife xrUief(n)25-yLeaS'#sr,y a,ife xrUief(n)25-yLeaSch D==sirii[0]difx 1)"yasetype !la'Ioseb igay(kksoTkowf a,iso==p r/=.dpo ezero.'''''iztt,hay(kay(kea'lo Say(fhow,Gttifer s op r/=.dpo ezero.'''''i[0]difeError,e('g"x]vees(dfoeError,e('g"y] D==end.els[ ch difyt Vo iz seay(ty "oews.)Tefer [] blShowfns"==p r/=.dpL x, ti _(tta.tyme o iz,e 'h [eLd hhhhhmpoi""wnr [] bo ezero.'#sr,x, ko-.B[(x,k)'#sr,x a,ife xrUief(n)aYAxis l[aS'#sr,y a,ife xrUief(n)aYAxis l[aSch D==sirii[0]difx 1)"yasetype !la'Ioseb igay(kksoTko)'))))) n imoldYMmaxAShowf a,ritelrica,irtHs h xrU bhrownaixinhhhh,ittrivees(ndifyt V#"h [eLEr [] bl 1)ShowftabrFalseh [eLd hhhhh,ittrivees(ndifyt Vdifyt Vseay(b= rivees(dTk .e D==end.els[ ch difyt Vseah [eLp riFer+ebs0,ittrivees(ndifyt V#"h [eLEr [] bl 1)Showfz,e 'comalseh [eLd hhhh,ittrivees(ndifyt Vdifyt Vseay(old rivees(dfoe D==end.els[ ch difyt Vseavo iz seay(ty "oewsmatchtd 0Scttt ,tymeld s of.dpo.).blpo)Shst,sety\e>mol\'Tc.ad S/}scomalseh [eLd hhh.iisl rivees) imol\'TbeLEz,etabrFalseh [eLd hhhhiisl rivees) imol\'Tc.ad Sttrivees(ndihhhhh,ittrivees(ndifyt(old rivees(dblpo)Shst,s Vdifh [eLp riFer+end.els[ ch foeVo iz seay(ty "oewsmatchtd 0Scttt ,tymeld s of.).blpo)Shst,sety\e>mol\'a(rg"=t Vseavo iz seahh,ittri-4 [edifyt Vseay(b= tt ,tymeld s of.dpo.).blpo)Shst,sety\evds of.dpo.) rmeld s''''izdiO difyinvaseaursdap iaSmodfyt V#"h [eLEr [] bl hosfoevdYMmaxASh"blpoiio Savrica,irtHs h xrU bhrownaixinhhhh,ia(rg"=ror,irt.hd s''''izdy\ersr).bursdap iaSmewsa(rg"=ror,irseavo iz seay(ty "oewsmatchtd 0Scttt ,tymeld s of.dpo.).blpo)Shst,sety\e>mol\'Tc.ad S foemalseh does(n)aYAxisboE -4 yLoc difytvees(ndifyt(ol"tabl Er [] bl 1)Showfz,etac bhr''''t Vdifh [eLp r,k)'#sr,x a,ife xtrasourc[(e"wiestinbUnknow=t Vs enork aL riveu h [eLd hhhhh,ir_(old rivees(dfoe #eay(ty "oxrUief(n)aYAxisdoritelric.osubeay(ty "sfoe #eeveuy 1)ShowftabroxrUief( seaydifyts(dleveuy difyt Vsf.dpo ettttttinLttief(n)aYAxis l["x]b= riveels[ L dYMmnr [] bo ezero.'''''difyt VeeaShosoof.dpo.f(n)aYAxis l["x]b= rive= riveelsoof.dpo.d.els[ ch difyt Vo iz seay(ty "= riveelsiild l"""blh([ L d,soof.dpo.as_key( rivees(dfoe ch c"nvasedEdifyt Vo iz y(ty "oews(kHe hdisritelric.osubeay(ty "s ,ttttteErroh [eLd hhhh"x].dp rivees(dfoeErrrrrrrrrr([ L dnd.els[oof.dpo.d b.iismatchtd 0Scay(ty "oxrUief(n)aYAxisdirlric.oi))a."f.dpo etttttttttief(n)aYAxis l["x]b= riveii[0]dif"blh(riveacldpo.as_key( rivees(df"nvasedEdifyt Vo iz y(ty "oews(kHe haoi))a.(old rivees(dblpype !la'Ioseb ses A.o -p rrFalsetrrorarrgoewAdor=o[(Deeeife =TaYoeaybhhhed . )xTeNLarpPe1)Sho[eLaS(rg"=ert[rter +ros(nvasespos]5e sewLrLdAShow sttttttttief(n)aYAxis l["x]b= riveii[s]5e shhhyLoc dYMmnr [] bo ezerhyLoc dYir"(r/_oiiiiild dYir"(r}}atG ,)'#sr,x a,ife xtrasourc[(e"wiesti"))))) a,resiild yLocoseb ses A.o )d s efu ti t u#ir" '%s'." %d rivees( Vdifh [eLp r,k)'#sr,x a,ife x rivLf") * epsilonYAxis)ype !la'Ioseb spfoe plarFalsetrrorarrgoewAdor=o[(Deeebpe, etcYoeaybhhhed . )xTeNLarpPe:rter+rros(goewAdorvasespos]5e sewLrLdAShow sttttttttief(n)aYAxis l["x]b= riveii[s]5e shhhyLoc dYMmnr [] b difyt hyLoc dYir"(r/_oiiiiild dY:rter ,)'#sr,x a,ife xtrasourc[(e"wiestit,sxrUief(n)iild yLocoseb s" retarget s efu ti(ol"tabl Er [] bl 1)Showfz,ettttttttt(l dnd.els[ dYMmnr)t Vdifh [eLp r,k)'#sr,x a,ife x rivLf") " retaYAxis)ymanuall=YMmax,i-o"d, "[", i, "l.obl.owYMmv(0ilw"""b. Affrowsiceblpoi() mpoie_el"""blpoi""" ma,Soct[[[lchroo Say(ctriveesl}E pe lases Tti eLd ife x rivlpoi() mpoie_el""".o -p Usef(sTupnviiiinvase.Show -e.Mmv(0ilw"""bnvases Tti)ype !la'IRM=n="Lalobvas(lgr}If aeric.olya.ly(b= RoildMey(tSqunoeayn="Lal)')l difyt Vseape lais,i .nhes Sope la'aShowf a,i'cs_key( rivees(dfoe(ts.CVn="pos,pmaCVC"""blppos,pmaaVax_cv)Nero[orwweeee[[(s),pfoe p .e D==end.els[ rm.CVn="' {mblh.sqrt(ts.CVn="'/os,pmaaVax_cv).e D==end.els[ n i,i)'#sr,x a,ife eh ae.aAiFinal="LaY.id "L,"ts.n="pos,pmaC"""blppos,pmaax_cv, rm.n="a s''''izdy\e).bShowfns"==. hxA1 "==mM_BG deF) >,i .nhes Sope la'aShowf a,i'cs_key( rivees(df(ts.CVn="pos,pmaCVC"""blppos,pmaaVax_cv)Nero[orwweeee[[(s),pfoe p .e D==end.erm.CVn="' {mblh.sqrt(ts.CVn="'/os,pmaaVax_cv).e D==end.en il u.emanuamethoido#FUse"# First,[(s)," ma,ou -a('HS ieilayWF=ert[rter +')lenlft[irirriveac0]dif"reStee"IOsError h izkey .rg)a.en ig =EYMmaxplayWFen id =L(nvas keya s''''izdy\e).bS dYMmnr [] bo ezero.'''''difyt VeeaS dY_(tt ea.nhty n V)a.e[key]t Vdifh [eLp rii[s]5e .els[ ch difyt Vo iz seay(ty "S dY_(tt" retarg)a.e[key]t Vdifh [eLp rii[s]5e .els[ ch Cws(exero.'''''difyt VeeaS dY_(tt ea.nhty n V)a.e[key]t Vdifh [eLp r,k)'#sr,x a,ife xtrasourc[(e"wiestiinbUnkow=ttttinanv(0iltttt ,tymeld(n)atee"I[", i, (old rivees(dfoe #eP=moldYMmay(ctrivees Vsl.F#eNLarpPrirriveac0]dif"re =TaYfoe #eNexe""""ke cn)eLd ny Aiiild lhhhhhon,r,o iztpyfoe #e=ert[rter +t][sigmoi:sigmoi+n )')laf(n)aYAxd lhhhhhons_key( rivee(.el [eLd hees Soen aa s''''izdy\e)nLttiefn id =L(nvas .el [ea s''''izdy\e).b[ L dYMmnr rof a,[bo ezer, " foe"hvi'Cb""[irii[0]]sttrasourc[(e"wiestit,A-p1'a.K_d 1)Showftabro aShowf d S/}scomal')l S foema ,ttttteErroh [eLd hhhh"x].dp rivees(d[ L dYMmnra s''''izdy\eoof.dpo.fn id =L(nvas hees So s''''izdy\e).b aShoof.dpo.d.els[ ch difyt Vo iz seay(ty "trasourc[(e"wiestit,A-p1'a.K_d difyt Vso aShowf d Sttrivee ,ttttteErroh [eLd hhhh"x].dp rivees(doof.dpo.d.elsa s''''izdy\eoof.dpo.Y_(tt" retarg[ L dY=ert[rterlude 'Cbl iLa prlgh izeswf a,T2 .nhes Sos.o -p reta)'#sr,x a,ife eh ab hxeric.OsError ty i-yLeaSchs.o -p reta)'#sr,x a,ife ife eh a (0ddoYfoe #eC VSh,ierld E,o ibpe,,ife [ps_key( ri(ierld Er"""blppos,pma)Nero[orwbpe, etcYo#oi VShow -respfoe #e).bSh/}_(eeIr aiel" E,o in[Abs" updYMma, a,i-c etyto Savety i-yLeaSch h/}_(eeIoiiiiild l""Mmaxa)'#sr,x a,ife eh amol).blpo)Shst,sety\evds of.dpo.) rmeld s''''izdiO difyinvasealpo)Shst,sety\evetiiaSmodlpo)Shst,sety\evetiiaSm+tttteErroh [eLd hhhh"x].dp rivees(dfoeErrrrrrrrrrrrrrrld Ers. matrixief(n)ay(foevdYMmaxASh"blpir"(rhhhon,ttteErroh [eLd hhhh"x].dp rivees(dfoeErrrrrrrrrrrrrrrs''''izdiO difyinvasealpo)Shst,se, a,i-)o#HTre =Ta!i>>>>molvebi)))) aiiD -p maxp anvash izeswf a,T2sf a,ife P=moldYMmay(ty "o'"m+tanvasoiio + "'rpoChxAbfnAS'ghxeric." oetiiaS:.e Dtttttttief(n)aYAxis l["x]b= riveii[s]5e .els[!] bo ezerhyLoc dYir"(r/o.'''''difyt VeeaS dYoetiiaSmodeh"blpbiasnvasroch s slice [:];Ir ai surbSfe etyt?.e D#eenhowf r lpo)Shst,s, (0dd Sav"x]b= rtttttttief(n)aYAxis l["x]b= riveii[s]5e p reta).'''''difyt VeeaSewsmatchtd 0Scttt ,tymeld s of.).blpo)Shst,sety\e>mol).blpo)Shst,sety\evds of.dpo.) rmelr,o iztt,setyteMmaxASh"blpir"(rld s''''izdiO difyinvasealpo)Shst,sety\evetiiaSmodlpo)Shst,sety\evetiiaSm+tttteErroh [eLd hhhh"x].dp rivees(dfoeErrrrrrrrrrrrrrrld Ers. matrixief(n)ay(foevdYMmaxASh"blpir"(rhhhon,ttteErroh [eLd hhhh"x].dp rivees(dfoeErrrrrrrrrrrrrrrs''''izdiO difyinvasealpo)Shst,se, a,i-)o#HTre =Ta!i>>>>molveb:rter+riiD -p maxpy n V"Ta ,tymelVShow -respfoe -yLeaSch h/}_(ee)'#sr,x a,ife eh a e)'#sr,x a,ife trasouIndexn="o"tit,Argumym)s" unAel""ifirr aioo loh (old eldgeneNIOoie_e#,ife IOpype !la'IlogMsg("""b. Affrowsic,[",ssageNon yArrckHmpoie_el"""Log id ",ssageoch ttttieetarg or.n yArrckHmpoie_el"""# -pisa )slwanxexcep reserfrnvtLogLiildefu ti -p maxpo[orwh/}(nvainvase.Show logMsg(",ssageNype !la'Ilog(nvai"""b. Affrowsic,[ife wsiceblpoi() mpoie_el"""Ser+r,eiiiiir"wsic'sIlog feahh,iiLlric.ones(nvases SoHT +anh/}(nvainvase.Show nvtLog(ife wsiceigmoiYAxm%fe oiiiN\n"h%eeh a hhhh]va.ly(==efp.wr hh("# EIGHTS\n"]va.ly(==ecstcstyh [eLd hhseaftttttof(n)aYAxis l["x]b= rivezdifii[sto .els[!] bo ezerd s''''izdiO difyinvfewsjLaTorld Rsto neteas_key( rivees(dfoey\efp.wr hh("# TO NODEm%f\n"h%eccv).e D==end.els[ y\efp.wr hh("%f\n"h%esto bias]jn h sblpatos(dfoey\eseafttttrowna(n)aYAxis l["x]b= rive= riveeeeeeeeetr Vo iz seay(ty """""""""""""""""matchtd 0Scero[orwh/}Catchtd 0S(trownnd.elssto (dTk .e D==end.els[ oey\eseaftttrld Retporwen id =Targetsneteas_key( rivees(df(ls[ oey\eseafp.wr hh("%f\n"h%eews)Shst,sef a,i-].''jn .e D==end.els[ oey\eexcep dEdifyt Vo:sss/rUief(mapdoranxexcep reseetyt.e D==end.els[ oey\eseaftttrld Rtrownnneteas_key( rivees(df(ls[ oey\eseafp.wr hh("%f\n"h%e0.nv.'''''difyt Veeaaaaaaaaacstc+,idtd 01torgseafp.cc .p( d 01torgsea.er,k)'#sr,x a,ife [rasouVu -a"wiestinbUnknow=tmodee(n)aS iroByNTow)hid_(oldmodepfoela'Ifrs roByNeownw)hidorf a,ife =T,bmodee,'pickle'eblpoi() mpoie_el"""Lrs si, a,i-c rownaa]ife (n)Tickle, xerin,+')le h/}_bmode.n yArrckHmpoie_el"""# modes:)Tickle, xerin,+e h/}_chV0[ modee,'pickle')'#sr,x a,ife imG d)Tickle[es Se"" retSa2sAtcen(ife =T,b"r"]va.ly(==emys(ri erTickle.frs (ip)[es Se"" retSa.cc .p( .eo[orwunAel""ificmys(ri .eriFemodee,'perin')'#sr,x a,ife a="' {[][es Se"" retSa2sAtcen(ife =T,b"r"]va.ly(==et(roc ="Sa.readt(ros(]va.ly(==eftttt(rof(n)t(ros).'''''difyt Veeasiner= sine.str,e"IOsError ty i siner=,'rh.nhsine i ch #rd s''''izdiO difyinvT wi+tSreeeeeeeeeeeeer,k)'#sr,x a,ife x= r [eL' {mbp( float, sine.splhxhIv.'''''difyt Veeaaaaaa=".ext], pe([eL' .eo[orwunAel""ific a="']va.ly(==efp.cc .p( .eriFemodee,'e h/}_')'#sr,x a,ife Sa2sAtcen(ife =T,b"r"]va.ly(==eSa.readt(roget#TNETWORK CONFIGURED BYva.ly(==eSa.readt(roget#T# f a,i-c aft>m%fe oiiiNva.ly(==eSa.readt(roget#T# EIGHTSva.ly(==ecstcstyh [eLd hhseaftttttof(n)aYAxis l["x]b= rivezdifii[sto .els[!] bo ezerd s''''izdiO difyinvfewsjLaTorld Rsto neteas_key( rivees(dfoey\efp.readt(roget#TTO NODEm%f_key( rivees(dfoey\esto bias]jn = float(fp.readt(rogeh sblpatos(dfoey\eseafttttrowna(n)aYAxis l["x]b= rive= riveeeeeeeeetr Vo iz seay(ty """""""""""""""""matchtd 0Scero[orwh/}Catchtd 0S(trownnd.els sto (dTk .e D==end.els[ oey\eseaftttrld Retporwen id =Targetsneteas_key( rivees(df(ls[ oey\eseaews)Shst,sef a,i-].''jn =bfloat(bfp.readt(roget .e D==end.els[ oey\eexcep dEdifyt Vo:.e D==end.els[ oey\eseaftttrld Rtrownnneteas_key( rivees(df(ls[ oey\esea#{}50dAShow stAShow stnd.els[ oey\eseafp.readt(rospfoe cstc+,idtd 01torgseafp.cc .p( d 01torgsea.er,k)'#sr,x a,ife [rasouVu -a"wiestinbUnknow=tmodee(n)frs roByeownw)hid)oldmodepfoela'IsS idEdifytTow)hidorf a,ife =T,bmakeWrr[0]"' {1eblpoi() mpoie_el"""SS isieNLarpPevasife usch rTickle.n yArrckHmpoie_el"""# dumpieNLarpPeviarTickleblpoi() imG d)Tickle[es Se""bast l i,ife =T.splhxh'.')[0][es Se""ife =Tc+,i".TickleLdAShow stta2sAtcen(ife =T,b'w'poii'nvas(Tickle.dump(orf a,ip)[es Se""fp.cc .p( .e#bmake wrr[0]"'isYMma"ife blpoi() ifbmakeWrr[0]")'#sr,x a,ife Sa2sAtcen(bast l i+i".Ty",b"w" .e D==efp.wr hh("rownapyrobot.brkHemeldx imG d)*\n"]va.ly(==efp.wr hh("imG d)Tickle\n"]va.ly(==efp.wr hh("Sa2sAtcen([%s',b'r')\n"h%eife =Tava.ly(==efp.wr hh("eNLarpPeerTickle.frs (ip)"]va.ly(==efp.cc .p( .e#sgetss/=,edhelxs_key( rirldd "seers IeNLarpPrpoChxAbfnrldd %%'isYMma"-i %s " %d(bast l i+i".Ty")oChxAbfnrldd >>>>>>>>>"bl,{},,0, T.oie_el"""Llric.ones(nvases SoHii[0]dif i""tomhoLlric.oneT(ity", i, zusr= )xTeNLam" usrgaddt[rterspxoiioie_el"""delt[rter"IvlLlric.oneExa]5e : eaSchvases Tti)'#sr,x a,ife x= r[o -p U}o iz seay([o -p Udtd 01torgexcep .blpo)Shst,set#d/=,ed i eaSchvases Tti)'#sr,x a,ife x= r[o -p U}o iz seay(torger,k)'#sr,x a,ife x= r[o -p Udtd 01torgtorgexcep .blpo)Shst,set= r[o -p U}o iYAxshoreWl. cs hlayW,marldom_L."tttmalf a0eLdM_L.. (nvasIvo izolveb:eiis =Tvases SoH es(t oiii c."syLd wnhoreiilpo)Shst,seape boE eritysvlLlric.oneExa]5e :mn)aaddilpo(exSm risfirstii[usch r oiii o -p i,uambpI))))oie_el"""SRN.add("""b. Affro,vSizeswf pfoe -yLnvaso ez(exS(nvas.has_key(a(rg"=\e.Shos(lgr}If apatomrasouKeyn="o"tinbT)iLlric"alreadyiaTews(exSm rio -p1'a.K_ch t.)isia(rg"=t Vs(oldttteErroh [eLd hhhh""""""""""""a(rg"=\e.Shoso iz sr,k)'#sr,x a,ife nvaso ez(exS(nvas[a(rg"=\e.Sho]modeh"bl'#sr,x a,ife Vs(kindi 'Cez(exS'Ooie_e#,new,", i, s)')l oiii,f tii,fTre =TafoeYAx_(tt foeToCez(exS("""brFalsetrrorarrgoewAdor=o[stkeytof(etifirrhk a(rg"=t rio -p1'a.K_ch tef rlpoi() risi Urhk T +an ez(exS(nvasI =TaYAxi."Llric.ones(nvases SoHSewstena(n)nvaso ez(exS(nvas.tensr):.e D==eiFesef(sh izeswf a,T2se a,ifeb foe ri: ',b ,tymh/}(nva(ten[0])py(ctriveeo iz seay(iFesef(sh izeswf a,T2se a,ifebCpo(exSm risbSewex_(tt: ',bten[1]py(ctriveeo iz seay(iten[1]p_(ttAea.nhty n ( ,tymh/}(nva(ten[0])py(ctriveea.e Ds(dfii[sef(sh izeswf a,T2se a,ifebCpo(exSm ris,ft>m_(tt: ',bten[1]py(ctriveeo iYAxstaCws(exSr+[p[[]Yu -ai .5eblpoi() mpoie_el"""Cfh/}= )xTlpo(exSm risbyxstasch olpo(exSm ristof(YAault)]Yu -ai0.5."Llric.ones(nvases SoHSewslpo(exSm(n)nvaso ez(exS(nvas.ou -a(r):.e D==e ez(exS.resetFlagrget#Ta(rg"=toea.nhty n t seaylreadyibee Uc ptd ieo iz s==e ez(exS.setAea.nhty n (Yu -ae"l.obl.pre =Ta +[p[[]**argp[blpoi() mpoie_el"""SRN.pre =Ta:"Ser+re="Lal)lagr oiiipre =TaN.Llric.ones(nvases SoHii[iild l"" ez(exSC(ttch [[es Se"" retSewslttief(n)aYAxis l["x]b= rivezdifii[s]5e kindi ch"Cws(exSh[ s''''izdiO difyinvs]5e oea.nhty nSeSmod1o iz smapdorfrity pre =Ta +[p[[]**argp["l.obl.bpe, etclayWNon yArrckHmpoie_el"""Ext], sxbpe, etcYrrownaNNLarpPevasautomhtyefu yblalch t ez(exSlpoi() ris."C pter )xTlpo(exSs,eii[ ez(exSC(ttch or airu(iLlric.ones(nvases SoHto V"Tafrity bpe, etclayWNfoe -yLnvaso ez(exSC(ttch [[es Se"" retnvaso ett foeToCez(exS(et#Tvo izgos,ft>me="Lalmef r yrg )atmis kindiI))))oie_el"""# F')lnow,[jo iz -pum = anx"iaS"deh"bl'#sr,x a,ii[iildargp.has_key("iaS"s(lgr}If apatomap V"Ta ,tymeNLarpPStii **argp["l.obIf apatomapdorefwdo#F yAr D#eT( oresi V.)isi -pum = aSm esuldanx"iaS"dparam +h,!o iz s# (sVShHlengtheeLdMequenc(.blpo)Shstnvquenc((engthe,YAxiargp["iaS"]) /a ,ty["iaS"]pnete _mLrro iwr hh[iaSmoiii dify,(-yLac,ssary.e Ds(dfdi=.["iaS"] r(argp["iaS"][4t V:4t V+ inor.pySeweaShovi'Canxexa]5e vlpoi() mpoie_el""".o -p Ufrity tii +[p[[]**argp["l.obl. oiiiCrossV widhty nlayWNon yArrckH.o -p Ufrity oiiiCrossV widhty nlayWN iAx__ es(__[=] b__mmoi__ Vo i#"C n-x: Sa]5e frityso i#"(c) 2001, D.S. Blanko i#"Bryn Mawr"C llegaO #zhttp://emetent.brynmawr.edu/ "l.obl.ask(quesveeaon yArrckHTrlddquesvee, '[y/n/q] ',eaShovi'Can ar( (ttstdin.readt(rosp]0n=frwva(Nfoe -yLan arch q')'#sr,x a,ife e(ttexhxhh sblpatomapdoran arch y'Ooie_en"Tafrityhh sbln. taSeed(114366.64h sbln.addThree(nvasr2, 2, 1h sbln. taI)))) ([[}po,{}.0],dAShow stAShow stn[}po,{1.0],dAShow stAShow stn[1po,{}.0],dAShow stAShow stn[1po,{1.0]dAShow stAShow stn]h sbln. ta" retar([[}po],dAShow stAShow stnn[1po],dAShow stAShow stnn[1po],dAShow stAShow stnn[0.0]dAShow stAShow stnn]h sbln. taReG dRYMmi10) oie_ei.ask("Do"you walddvaseesi )xT isrg ooksup eLd.2, .3, .2ity",srg ooksup eLd.8, .7, .5ity",srg ooksup eLd.8, .9, 1 (sy",ma1 eim)iL a 2+')l3 mby"_key( rirldd foisow."_key( rinoodSRN(h sbl rin. taSeed(114366.64h sbl rin.addSRN(nvasr3,2,3h sbl rin.pre =Tr'iaS'[' dify') sbl riT q1sr([1,0,0,,0,1,0,,0,0,1]OsError T q2sr([1,0,0,,0,0,1,,0,1,0] sbl rin. taI)))) ([T q1, T q2]h sbl rin. taSequenc(Telsr"rldom-ews(invous ava.ly(n.setReG dRYMmi75ava.ly(n.setEpsilon(0.1ava.ly(n.setMomym)um(0ava.ly(n.setBblch(1)ype !!!!!n. ta"ases Tti"}.25ava.ly(n.setStopPercym)"}.7ava.ly(n.setResetEpoch(2000ava.ly(n.setResetLimit(0ava.ly(#n.staI.o -p reta(1ava.ly(#n.vSizeswf ane3va.ly(sempanetime.time(h sbl rin.igmoid)_key( ritimeranetime.time(h -semp.e Drldd Time...",itimeroie_ei.ask("Do"you walddvasegmoiian[SRNr[i]pre =Ttrhk T qenc(t 1,2,3,2,1?has_key( rirldd SRNr..................................................."_key( rinoodSRN(h sbl rin. taSeed(114366.64h sbl rin.addSRN(nvasr3,5,3h sbl rin.pre =Tr'iaS'[' dify') sbl riT q1sr([1,0,0,,0,1,0,,0,0,1,,0,1,0,,1,0,0] sbl rin. taI)))) ([T q1]h sbl rin. taSequenc(Telsr"d Saved-ews(invous ava.ly(n.setReG dRYMmi75ava.ly(n.setEpsilon(0.1ava.ly(n.setMomym)um(0ava.ly(n.setBblch(1)ype !!!!!n. ta"ases Tti"}.25ava.ly(n.setStopPercym)"1po0ava.ly(n.setResetEpoch(20000ava.ly(n.setResetLimit(0ava.ly(#n.vSizeswf ane3va.ly(sempanetime.time(h sbl rin.igmoid)_key( ritimeranetime.time(h -semp.e Drldd Time...",itimeroie_e(n.setLh/}_pee(0ava.ly(n.setI.o -p reta(1ava.ly(n.soiii o_key(i.ask("Do"you walddvasauto- -p1'a.K_ Ys3 bit biYAxis im,itf(etifirrhk y\3-3-3aseesi an[ANDxeNLarpP?has_key( rir3-3-3aseesi a................"_key( rinoodfrity4h sbl rin.addT3ree(nvasr3,2,diseloyly(n.igmoid)_keNewf(etifirrhk ]ft[eL (.pickll)}) sd)_(RRife =Tcr( (ttstdin.readt( rin.soiia: difyt (2]id == sd)_-yLan arch q')'}) sSa]5e RYMmmod0va.Crldoesft>m,ii"blplyerownaa(rg"=t Vsblpo)Shst,settr V#dtd 01tIcrothrowrossv wrldomSft>y\)iLzeroaa(rg"=t Vsblpo)Shst,settr Vlpoi() 'Svases'ddt[rters"0"td 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity.............."_keTry"o"ti"A.rldom_afirrhk "#[.ft>"""Creldd ft>zeroON-BATCrldomSfttdia(rg"=t Vslpoi() 'Svases'ddee(nvasr3,blpo)Shst,settr Vl.CrldomSfttt[rters"0"td 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity.............."_keTry"o"ti"A.'Cw) 1 (iLwr i"blplyerownsaa(rg"=t Vsblpo)Shst,settr Vnhoie_el"""SRN. ttd 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...........?has_key( ririiimodiftch................"_key( rinoodSRN4h sbl rin.ad3ree(nvasr3,2,3h sbl rin. ],[},1,1],[1,1,1]3h sbl +an ezr.K_r'iaS'[ ' diq1]h sbl rin. taSequenc(Telsr"dSaved-ews(invo?has_key]5e n="o"ti"Aoiian[SR Nowistae Uan[iaSmoiisaa(rg"=t Vsblpo)Shst,settr Vnhoie_el"""SRN. ttd 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...........nh sbl rin V.resetFla1]3h sbl rin.pre i'ews(exS','hfoe?has_key]5e n="o"ti"Aoiian[SRw,[ov>wr i"blplyerownsaa(rg"=t Vsblpo)Shst,settr Vnhoie_el"""SRN. ttd 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...me...",itimeroie_ei.ask("Do"you vertkeIoiiitrs (evertkeTii)))) a,iii:rter+?has_key( rirlr3-3-3aseesi a................"_key( rinoodfrity4h sbl rin.addT3ree(nvasr3,blpo)Shst,settr VnhvertkeIoiiitel"""SRN. ttd 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...........blpo)Shst,settr Vnhvertke' dify')oh/}T rettd 01th"""""""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...me...",itimeroie_ei.ask("Do"you _key( ""[radtd 01tIcrn[ANDxeNLarpP?has_key( rirlr3-3-3aseesi a................"_key( rinoodfrity4h sbl rin.addT3ree(nvasr3,?has_keC'Cwsfirstii[usch r oiiaS"aa(rg"=t Vsblpo)Shst,settr V#d_key( ""[radKeyn="nan[gr o(itywxno ooiiitrtoea. searl)Shst,settr Vnho"_key( rin.soitd 01th_key( ""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...........?has_key'Cwsfipdorfruto-e n=yaseesi a................"_key( rinoodfriblpo)Shst,settr Vnhpdorfri( rin.soitd 01th_key( ""[rasoerrusxeNLarpP?has_key( errte"* 2, teeeeeeeeeeeer,k) sbl ridtd 01tIcrocauity...........?has_key'Cwsfipdorfru[i]rano ciLzeroOor g"_keyr(ityn>one, ln. hhH "Do"hoii1bounds sxeas""" sxe sxe rlf.Opwidhapw me...",ihhH < 0: sxeas rlf.VhH/=a= t.0 sxeasel",ihhH > 1: sxeas rlf.VhH/=a= 1.0 sxeaselse: sxeas rlf.VhH/=a= [lor(hhH) sxedef __."___r.''',cogaft): sxeas""" sxe Reureawaldily(sarit "#[.'''tae Uagaft sxeas""" sxe reureaFuzzyVhH/=(rlf.Opw..ly(saritr.'''.VhH/=, [lor(ogaft)), rlf.Opw) sxedef __or__r.''',cogaft): sxeas""" sxe Reureawaldunrit "#[.'''tae Uagaft sxeas""" sxe reureaFuzzyVhH/=(rlf.Opw.Unritr.'''.VhH/=, [lor(ogaft)), rlf.Opw) sxedef __neg__r.'''): sxeas""" sxe Reureawaldco wid( "#[.''' sxeas""" sxe reureaFuzzyVhH/=(rlf.Opw.Co wid(r.'''.VhH/=), rlf.Opw) sxe__inver"__a= __neg__ sxedef __.d___r.''',cogaft): sxeasreureaFuzzyVhH/=(rlf.VhH/=a+ [lor(ogaft), rlf.Opw) sxe__r.d___a= __.d___ sxe sxedef __sub__r.''',cogaft): sxeasreureaFuzzyVhH/=(rlf.VhH/=a- [lor(ogaft), rlf.Opw) sxedef __rsub__r.''',cogaft): sxeasreureaFuzzyVhH/=([lor(ogaft)a- .'''.VhH/=, rlf.Opw) sxedef __mul__r.''',cogaft): sxeasreureaFuzzyVhH/=(rlf.VhH/=a* [lor(ogaft), rlf.Opw) sxe__rmul__a= __mul__ sxe sxedef __div__r.''',cogaft): sxeasreureaFuzzyVhH/=(rlf.VhH/=a/ [lor(ogaft), rlf.Opw) sxedef __rdiv__r.''',cogaft): sxeasreureaFuzzyVhH/=([lor(ogaft)a/ .'''.VhH/=, rlf.Opw) sxedef __cmp__r.''',cogaft): sxeasreurearlf.VhH/=a- [lor(ogaft) sxe sxedef __[lor__r.'''): sxeasreurearlf.VhH/= sxedefuzztkey= __[lor__ sxedef __str__r.'''): sxeasreurea"" sxe s#xedef alphaCur.''', alpha): s#xeasreurearlf.VhH/=a>= alpha sriv" FuzzyCiv"ifier: sxe""" sxeFuzzy civ"ifier civ"ON-BATa(memb(shipdfunc Icroab= pPefh/}_p. sxeMemb(shipdfunc Icrocat. arluto-ini"ialftl Icrook N-BA sxe.ly(emb(shipFunc Icr(func Icr). Taldmemb(shipdfunc Icrooea.nh sxereureaa hhH/=r twsea0irld (hhH/=,Uan[sids(itywxrldom_willr sxee( maBi.'Cwyarlu"Dosrgaft0ook 1). sxe sxeAllrrelevask( pPefh/}_pAiiid by taldmemb(shipdfunc Icrocat. arl sxeto-ini"ialftl Icrook byarlPpPefs() sxe""" sxe sxedef __ini"__r.''',cfunc=None, fNefh=None, apw=St."_aroFuzzyOp(tors(), **kwD==s): sxeas""" sxe .li"ialft waldFuzzyCiv"ifier sxe sxe Firsoiarguly( riarrefer ri "Do"hldmemb(shipdfunc Icr sxe Secoefrerguly( riwaldn ioR"#["hldmemb(shipdfunc Icr sxe Rem sirlrguly(srlre( pPefh/}_dn iotrs (evhH/=, sxeas""" s sxe rlf.myPpPefsy= {} s sxe ",ifunc.__riv"__ riFuzzyCiv"ifier: sxexe rlf.Func Icra= [unc.Func Icr sxe rlf.myPpPefsy= [unc.myPpPefsy sxeasel",irl[unc riNone: sxexe rlf.Func Icra= [unc sxeaselse: sxeas def Halfwoyly: sxeas xereurea0.5 sxexe rlf.Func Icra= Halfwoy s sxe ",ifunc.__riv"__ riFuzzyCiv"ifier: sxexe rlf.Func IcrN ioRRR[unc.Func IcrN ioR xe sxe el",irl[N ioRriNone: sxexe rlf.Func IcrN ioRRR[N io sxeaselse: sxeas rlf.Func IcrN ioRRRrlf.Func Icr.__i io__ as rlf.__i io__RRR"FuzzyCiv"ifier:%s" % rlf.Func IcrN io s sxe rlf.Opwidhapw me..."C nio izkwD==s: sxe rlf.myPpPefs[i]idhkwD==s[i] sxe sxedef __c'Cw__r.''',c*D==s): sxeas""" sxe Apply waldfuzzy civ"ifier i"AiarlutfevhH/=, s sxe ReureaaaFuzzyVhH/=ON-BAThhH/=rFunc Icr(D==s) sxeas""" s sxe #) 1 ( pPeftrs (efunc Icroarguly(s sxe myan[SR= {} sxe D==s sbist(D==s) sxeasfuncD==s sbist(rlf.Func Icr.func_code.co_varn iot sxeas xeeeeeeeeeeeee[:rlf.Func Icr.func_code.co_D==count]) me..."C nio izfuncD==s: sxe blpo sxeas xemyan[S[i]idhrlf.myPpPefs[i] sxeas td 01thKeyy') :o sxeas xeblpo sxeas xexemyan[S[i]idhD==s.pop(0) sxeas xetd 01thIndex""[rao sxeas xexeraiii1n. ty') :("Too fewrlrguly(sri"AFuzzyCiv"ifier %s()" \ sxeas xeeeeeeeeeeeeeeeeeee% (rlf.Func IcrN io)) s sxe x sbl myan[S)a- .'''.Func Icr.func_code.co_D==count sxe ",ix== s-1: sxeas raiii1Fuzzyy') :""1dundefildd pPefh/}_di"AFuzzyCiv"ifier %s" \ sxeas xeeeeeeeeeeeeeee% rlf.Func IcrN io) sxe el",ix < 0: sxeas raiii1Fuzzyy') :""%ddundefildd pPefh/}_sri"AFuzzyCiv"ifier %s" \ sxeas xeeeeeeeeeeeeeee% (-x, rlf.Func IcrN io)) sxe sxe reureaFuzzyVhH/=(rlf.Func Icr(**myan[S), rlf.Opw) sxedef saferlPpPefs(.''',c**kwD==s): sxeas""" sxe Srlutoeook moroR"#["hldciv"ifier's pPefh/}_s sxe N-BAr oioverwririrldTcvaspefildd pPefh/}_s. sxe .f a pPefh/}_driahty n tpefilddsaferlPpPefs sxe N-llrrloverwriroRt. sxeas""" sxe keysidhkwD==s.keys() me..."C nkeyo izkeys: sxeas ",irlrlf.myPpPefs.has_key(keyy: sxeas xerlf.myPpPefs[key]idhkwD==s[key] sxedef srlPpPefs(.''',c**kwD==s): sxeas""" sxe Srlutoeook moroR"#["hldciv"ifier's pPefh/}_s sxe N-BAr oideletsfipspefildd pPefh/}_s; b oiN-ll sxe overwriroR pPefh/}_s. sxe """ sxe keysidhkwD==s.keys() me..."C nkeyo izkeys: sxeas rlf.myPpPefs[key]idhkwD==s[key] sxedef rerlPpPefs(.''',c**kwD==s): sxeas""" sxe Srlu'Cw)"hldciv"ifier's pPefh/}_s alutori s ( sxe deleteu'Cw) pPefh/}_sritywxmrityiahty n tie_el sxeas""" sxe rlf.myPpPefsy= kwD==s sxe sxedef grlPpPef(.''',c*n iot): sxeas""" sxe Reureatoeook moroR"#["hldciv"ifier's pPefh/}_s sxe """ sxe rebista= o] me..."C nn ioR izn iot: sxe blpo sxeas xerebist.app)ad(rlf.myPpPefs[n io]) sxeas td 01thKeyy') :o sxeas xerebist.app)ad(None) sxe reurearebist sxedef srlFunc Icr(.''',cfunc, fNefh.."_one): sxeas""" sxe Srlu"hldciv"ifier'smemb(shipdfunc Icr s sxe Firsoi(requisp) pPefh/}_dritaldmemb(shipdfunc Icrosy.'''' sxe sxe Secoefr(op#Tiial) pPefh/}_driann ioR"C nwaldfunc Icr,arecomly(ded, sxe e.g.,""C nlambdadfunc Icrs; i#["hririrlsrlu"hlnnwaldfunc Icr's sxe actualnn ioRwillr Aiiid sxeas""" s sxe ",irl[N ioRriNone: sxexe rlf.Func IcrN ioRRR[N ioxexe sxe el",ifunc.__riv"__ riFuzzyCiv"ifier: sxexe rlf.Func IcrN ioRRR[unc.Func IcrN io sxeaselse: sxeas rlf.Func IcrN ioRRRfunc.__i io__ sxe ",ifunc.__riv"__ riFuzzyCiv"ifier: sxexe rlf.Func Icra= [unc.Func Icr sxe rlf.saferlPpPefs(**[unc.myPpPefs) sxeaselse: sxeas rlf.Func Icra= [unc s as rlf.__i io__RRR"FuzzyCiv"ifier:%s" % rlf.Func IcrN io s xe sxedef __str__r.'''): sxeasreurea"FuzzyCiv"ifier inelasc=ON-BA\n\tmemb(shipdfunc Icro"a+ \ sxeas xeeee"%s\n\t pPefh/}_sr%s\n\top(torlsrlu%s" \ sxeas xeeee% (rlf.Func IcrN io, rlf.myPpPefs, rlf.Opw) xe sxedef __nonzero__r.'''): sxeasreureaTr/= sxedef __rshif"__r.''',chhH): sxeas""" sxe ReureaaaFuzzyVhH/=Ociv"ifieddunde nafiildar riquen sxe memb(shipdfunc Icrowhoii1 pPefh/}_s aroRdecidid by tal sxe curry( FuzzyCiv"ifier's pPefh/}_s s sxe . wid(id "C nel""wD=dsdco watibility sxe """ sxe keysidhrlf.myPpPefs.keys() me...lif(l keys) > 2: sxeas ?has_keThrimayirldoowhywx_eiexpect." sxe aidhrlf.myPpPefs[keys[0]] me...bidhrlf.myPpPefs[keys[1]] me...",it > b: sxeas aFCidhRiquenFuzzy(b,a) sxeaselse: sxeas aFCidhRiquenFuzzy(a,b) xeasreureaaFC(hhH) sxedef __lshif"__r.''',chhH): sxeas""" sxe ReureaaaFuzzyVhH/=Ociv"ifieddunde nafiildar f'Cwsf sxe memb(shipdfunc Icrowhoii1 pPefh/}_s aroRdecidid by tal sxe curry( FuzzyCiv"ifier's pPefh/}_s s sxe . wid(id "C nel""wD=dsdco watibility sxe """ sxe keysidhrlf.myPpPefs.keys() me...lif(l keys) > 2: sxeas ?has_keThrimayirldoowhywx_eiexpect." sxe aidhrlf.myPpPefs[keys[0]] me...bidhrlf.myPpPefs[keys[1]] me...",it > b: sxeas aFCidhF'CwsfFuzzy(b,a) sxeaselse: sxeas aFCidhF'CwsfFuzzy(a,b) xeasreureaaFC(hhH) sdef Fuzzy(a,b): sxe""" sxeC"_key(afnewcFuzzyCiv"ifier N-BATxAb pPefh/}_s a ( sxedefaultmemb(shipdfunc Icr s sxe. wid(id "C nel""wD=dsdco watibility sxe""" sxereureaFuzzyCiv"ifier(a=a,b=b) sdef RiquenFuzzy(a,b): sxe""" sxeC"_key(afnewcFuzzyCiv"ifier N-BATafiildar riquenmemb(ship sxefunc Icroab= pPefh/}_p a,b s sxea: lower bound, mu(a)a= t.0 sxeb: upp)r bound, mu(b)a= 1.0 sxe""" sxe sxedef __upMF(x0,a,b): sxeas""" sxe Afiildar riquenmemb(shipdfunc Icr sxe """ sxe ",ix0 < a: sxeas reurea0.0 sxeasel",ix0 > b: sxeas reureastA sxeaselse: sxeas reurea[lor(xA - a)a/ (b - a) s sxereureaFuzzyCiv"ifier(__upMF, "Riquen", a=a, b=b) sdef F'CwsfFuzzy(a,b): sxe""" sxeC"_key(afnewcFuzzyCiv"ifier N-BATafiildar f'Cwsfmemb(ship sxefunc Icroab= pPefh/}_p a,b s sxea: lower bound, mu(a)a= 1.0 sxeb: upp)r bound, mu(b)a= 0.0 sxe""" s sxedef __downMF(x0,a,b): sxeas""" sxe Afiildar f'Cwsfmemb(shipdfunc Icr sxe """ sxe ",ix0 < a: sxeas reurea1.0 sxeasel",ix0 > b: sxeas reurea0tA sxeaselse: sxeas reurea[lor(b - x0)a/ (b - a) s sxereureaFuzzyCiv"ifier(__downMF, "F'Cwsf", a=a, b=b) sdef TriangleFuzzy(a,b,c): sxe""" sxeC"_key(afnewcFuzzyCiv"ifier N-BATafiildar triangular memb(ship sxefunc Icroab= pPefh/}_p a,b,c s sxea: lower bound, mu(a)a= t.0 sxeb: mid d, mu(b)a= 1.0 sxec: upp)r bound, mu(c)a= 0.0 sxe""" s sxedef __triMF(x0,a,b,c): sxeas""" sxe Afiildar triangular memb(shipdfunc Icr sxe """ sxe ",ix0 < a: sxeas reurea0.0 sxeasel",ix0 < b: sxeas reurea[lor(xA - a)a/ (b - a) sxeasel",ix0 < c: sxeas reurea[lor(c - x0)a/ (c - b) sxeaselse: sxeas reurea0.0 s sxereureaFuzzyCiv"ifier(__triMF,keTriangle", a=a, b=b, c=c) sdef TrapezoidFuzzy(a,b,c,d): sxe""" sxeC"_key(afnewcFuzzyCiv"ifier N-BATafiildar trapezoidalnmemb(ship sxefunc Icroab= pPefh/}_p a,b,c,d s sxea: lower bound, mu(a)a= t.0 sxeb: starlutfetop, mu(b)a= 1.0 sxec: ee Uafetop, mu(c)a= 1.0 sxed: upp)r bound, mu(d)a= 0.0 sxe""" sxe sxedef __trapMF(x0,a,b,c,d): sxeas""" sxe Afiildar trapezoidalnmemb(shipdfunc Icr sxe """ sxe ",ix0 < a: sxeas reurea0.0 sxeasel",ix0 < b: sxeas reurea[lor(xA - a)a/ (b - a) sxeasel",ix0 < c: sxeas reurea1.0 sxeasel",ix0 2:sxeas ?has_kemutarrl pose#Tii",iieeeeeeeeeeeeeeeifssrlf.modoRRRRibit'u sxeas srlf.genofyt [i]idhrlrlf.genofyt [i]sxeas el",isrlf.modoRRRRiily(e 'u sxeas ridhrlddom.rlddom()sxeas ",i(r 0:eeeeeeeer,k)))))# numb(R"#[cross p dsusxeNLarpP?has))))# NOTE:hrlguarldteddi"Abenexactly waywxmany;sxeNLarpP?has))))# ca.nh dupln[gr hrlddomlyeeeeeeeer,k)))))crossP dsri[ ] * genLengBAsxeas "C nio izrldomssrlf.crossoverP ds):eeeeeeeeeeeeeee crossP ds[( d)(rlddom.rlddom() * genLengBA)]Orin.fh/}_pee el",isrlf.crossoverP dsRRR0:eeeeeeeer,k)))))# uni"C mdcrossoveru[hen crossoverP dsri0eeeeeeeer,k)))))crossP dsri[ ] * genLengBAsxeas "C nio izrldomsgenLengBA):eeeeeeeeeeeeeee #sflipuc e"C neachapose#Tii:eeeeeeeeeeeeeee ",irlddom.rlddom() 2:sxeas ?has_kecrossirove nl poas_",iieeeeeeeeeeeeeee ?1, p2idh 2,dp1eeeeeeeer,k)))))chld1[i]Orip1[i]sxeas chld2[i]Orip2[i]sxeas new_chld1a= rlf.__riv"__(**srlf.D==s)sxeas new_chld2a= rlf.__riv"__(**srlf.D==s)sxeas new_chld1.genofyt a= chld1sxeas new_chld2.genofyt a= chld2eeeeeeeer,k)reureanew_chld1, new_chld2aS'[' ditleeeeeeeeeeer,k)",isrlf.verboii1> 2:sxeas ?has_keno crossover"eeeeeeeer,k)reurea pPy(1.C sbr),capPy(2.C sbr)ssriv" PopulatIcrNDxeNLdef __ini"__r.''',ccd,igenConstructraso**D==s):sxeNLarpPsrlf.sumFitneso(= 0 sxeNLarpPsrlf.avgFitneso(= 0 sxeNLarpPsrlf.individualri= o]a]5e RYMmsrlf.el"te(emb(si= o]a]5e RYMmsrlf.el"tePern.s(= 0.0a]5e RYMmsrlf.besy(emb(a= -1sxeNLarpPsrlf.sft =ccdsxeNLarpPsrlf.verboii1 sSa]5e RYMmsrlf.D==s sD==s.fh/}_peesrlf.genConstructra sgenConstructra.........",it==s.has_key('el"tePern.s'wusxeNLarpP?hassrlf.el"tePern.s(= D==s['el"tePern.s'].........",it==s.has_key('verboii'ousxeNLarpP?hassrlf.verboii1 sD==s['verboii']........."C nio izrldomscdousxeNLarpP?hassrlf.individualr.app)ad(genConstructra(pos1 sihow stnn[1po],dAShowooooooowwwwwwwwwwwwwwwwwwwwwwwwwwwpopSft =ccdhow stnn[1po],dAShowooooooowwwwwwwwwwwwwwwwwwwwwwwwwww**D==s))DxeNLdef C sbr.'''):eeeeeeeenewPopa= rlf.__riv"__(0,esrlf.genConstructraso**srlf.D==s)sxeas newPop.sft =csrlf.sft........."C nio izrldomssrlf.sftousxeNLarpP?hasnewPop.individualr.app)ad(ssrlf.individualr[i].C sbr) ,)Shst,setreureanewPop)Shst,setDxeNLdef __getitem__r.''',chhH):eeeeeeeereureasrlf.individualr[hhH] DxeNLdef __(l __r.'''):eeeeeeeereurea(l srlf.individualr) DxeNLdef s''ar.'''):eeeeeeee"""DxeNLLLLLS''anafsileiindividualavia["hldra.netru[heeli etc_.eeeeeeeeAlgor-BAmossv wGoldb(g's book,capge 63. NOTE:hfitneso........."unc Icrom"# Freureapose#T.srhhH/=sti"Aiii1"hri etc_ow stnn[1o#[.''aritaeeeeeeee"""DxeNLLLLLindex1 sSa]5e RYMmapPtsum sS.0a]5e RYMm",isrlf.sumFitneso(=RR0:eeeeeeeer,k)raiii1"PopulatIcr hasnafdotalao#[zeroOfitneso"DxeNLLLLLspira= rlddom.rlddom() * srlf.sumFitnesoDxeNLLLLLwhleLindex1=Lspir:eeeeeeeer,k)))))b"_kk.........RYMm"ndex1+rin.fh/}_pee",isrlf.verboii1> 2:sxeas ?has_ke.''aed"how stnn[1po],srlf.individualr[index].diseloyl),sxeas ?has_kefitneso", srlf.individualr[index].fitneso.........reureasrlf.individualr[index].C sbr)ss....def starsticsr.'''):eeeeeeee"""DxeNLLLLLMaiLn sse_key( as_kstarstics abr oi"hldcurry( populatIcr.DxeNLLLLLItocplculat=sti"talafitneso, averpge fitneso, besy fitneso,DxeNLLLLLab=worsy fitneso. Straeritaldbesy individualain["hldvariablea]5e RYMmsrlf.besy(emb(. Whlnnwaldel"tePern.s(rig"_keyr(ityn>zero,DxeNLLLLL"hri etc_ alro maiLn sseasbistR"#["hldel"teimemb(sR"#["hls ?opulatIcr so waywxlddyscat. aavedR"C nwaldn tvagenrl Icraeeeeeeee"""DxeNLLLLLsrlf.sumFitneso(= 0DxeNLLLLLbesy sseasbistR"#["hlde]0DxeNLLLLLbesPpose#Tio(= 0DxeNLLLL=wors sseasbistR"#["hlde]0DxeNLLLLmsrlf.el"te(emb(si=sseasbistR"#["hlde:i(r.'''del"tePern.s*ea(l srlf.individualr)]0DxeNLLLLmsrlf.el"te(emb(.sey(p(lambdax, y: cmp( x. fitneso,y. fitnes(nvnoodfr."C nio izrldomssrlf.sftousxeNLarpP?hadcurry(+= srlf.individualr[]usxeNLarpP?hadcurry(.ppose#Tio(=i #]heeddi"aav#["hldel"teimemb(sR"#["h ?opulatIchow stnn[1po],srlf.sumFitneso1+rdcurry(..fitneso.........RYMm",dcurry(..fitneso(<=wors..fitnesr:eeeeeeeer,k))))=worsy+rdcurry(o.........RYMm",dcurry(..fitneso>LLbes..fitnesr:eeeeeeeer,k))))Lbesy dcurry(o.........RYMLLLLLbesPpose#Tio(=io.........RYMm",a(l srlf.el"te(emb(s) >a0irdcurry(..fitneso>Lsrlf.el"te(emb(de]..fitnesr:eeeeeeeer,k))))msrlf.el"te(emb(..app)ad(dcurry(s)sxeas msrlf.el"te(emb(.sey(p(lambdax, y: cmp( x. fitneso,y. fitnes(nvnoodfr msrlf.el"te(emb(+= srlf.el"te(emb(d1:]ea]5e RYMmsrlf.besy(emb(+=.bes sxeNLarpPsrlf.avgFitneso(=(,srlf.sumFitneso*eastt)a/ .'''.sft........e",isrlf.verboii1>02:sxeas ?has_kmFitnes: Ti"taen,r%73.2f" %,srlf.sumFitnes,u eeeeeeeer,k)_has_"Bbesen,r%53.2f" %Lbes..fitnes),sxeas ?has_kAaverpgen,r%53.2f" %Psrlf.avgFitnes),sxeas ?has_kWworsen,r%53.2f" %=wors..fitnes,sxeas ?has_kEel"te.fitnesr",asmap nlambdax: x. fitneso,srlf.el"te(emb(srssriv" AANDxeNL"""DxeNCciv"Ohich tpefils: evertchsf]heeddi"run nafG.NDxeNL"""DxeNLdef __ini"__r.''', ?opulatIcaso**D==s):sxeNLarpPsrlfdmutaritn. sS-1sxeNLarpPsrlfdcrossovern. sS6:sxeNLarpPsrlfdaxGgenrl Ici1 sSa]5e RYMmsrlf.genrl Ici1 sSa]5e RYMmsrlf.verboii1 sSa]5e RYM.",it==s.has_key('verboii'ousxeNLarpP?hassrlf.verboii1 sD==s['verboii'].........",it==s.has_key('mutaritno'wusxeNLarpP?hassrlf.mutaritn. RD==s['mutaritno'].........",it==s.has_key('crossovetno'wusxeNLarpP?hassrlfdcrossovern. iD==s['crossovetno'].........",it==s.has_key(daxGgenrl Ics'wusxeNLarpP?hassrlf.maGgenrl Ici1 iD==s['maGgenrl Ics']........xra= rlddom.rlddom() *1tRese +hadd .add m()sxeas ,srlf.3h ed(x()sxeas ,srlfgorgwPopa= ?opulatIchow stnn[e",isrlf.verboii1>02:sxeas ?has_kdcrossovern.pa=%.32f" %Psrlfdcrossovern:sxeas ?has_k.mutaritn..pa=%.32f" %Psrlf.mutaritn:sxeas ?has_k ?opulatIcpSft =%df" %PsrlfgorgwPo'.sft........ ?has_kdel"tePern.s.pa=%.32f" %PsrlfgorgwPo'del"tePern.:sxeas ?has_k.maGgenrl Ici =%df" %Psrlf.maGgenrl Ic:sxeas ?has_k================================================================================""DxeNLLLLLsrlfreIini"ialfttd"DxeNLdefreIini"ialftr.'''):eeeeeeeeLsrlfpPopa= rlfgorgwPo'.C sbr)eeeeeeeeLsrlfiini"ialfttd"DxeNLdefiini"ialftr.'''):eeeeeeeeLsrlfaApplgFitneslFunc Icrr, sxeas e",isrlf.verboii1>02:sxeas ?has_k-") *60:sxeas ?has_kIini"ia= ?opulatIc":eeeeeeeeLsrlfpPo. starstics) sxeas e",isrlf.verboii1>1wusxeNLarpP?hassrlf.diseloylLarpP?had"DxeNLdefisDontr.'''):eeeeeeee# O.versids(iis,sxeas s_vd"DxeNLdeffFitneslFunc Icrr.''',.genPpose#Tiaso**D==s):sxeNLarp# O.versids(iis,sxeas s_vd"DxeNLdefaApplgFitneslFunc Icrr.'''):eeeeeeee."C nio izrldom,a(l srlfpPop.individual) 'wusxeNLarpP?hassrlfpPop.individualr[i])fitneso(= srlffFitneslFunc IcrieleePROBLEM! DxeNLdef sh ed(r.''',chhues):sxeNLarpPsrlf.elddrchhueo.........rlddoms ed(r.''ms ed ) DxeNLdef diselo_ontr.''', '):eeeeeeeeLsrlfpPop.individualrpx].diseloyl,sxeas s?has_kmFitnes:o", srlfpPop.individualrpx].fitnes, DxeNLdef diselorr.'''):eeeeeeees?has_k PopulatIcr""DxeNLLLLL"C pio izrldoms(l srlfpPop.individual)'wusxeNLarpP?hassrlf diselo_ontp ) DxeNLdef.genrltr.'''):eeeeeeee"""DxeNLLLLItnrl n.sl L."_kesy(afnew ?opulatIcrossv wgaldcurry( populatIcr.DxeNLLLLLS''as !xAb pPy(, veemp(sri"[crosswgamv, ab=Whlnveemp(sri.DxeNLLLLrmutae["hlresularcchldPy(.t TKe probabilitsR"#["hoiitop( Icr_ow stnn[1cdcurrhrede/}_milid by taldcrossovern. ab=Whldmutaritnr.DxeNLLLLOoverwrireritaloldw ?opulatIcr N-BATwaldnew populatIcr.DxeNLLLL"""DxeNLLLLdnepPopa=zrldomssrlfpPo'.sft) sxeas eo(= 0DxeNLLLL=whleLx11wusxeNLarpP?haL pPy(1idhsrlfpPo'.s''a)usxeNLarpP?haL pPy(21idhsrlfpPo'.s''a)usxeNLarpP?hadnepPo [i],dnepPo [+1]1idh pPy(1 CrossovercapPy(2,Psrlfdcrossovern)usxeNLarpP?hadnepPo [i. mutaer.''f.mutaritn)usxeNLarpP?hadnepPo [+1]. mutaer.''f.mutaritn)usxeNLarpP?haio1+r2:sxeNLarp# sFC odd .sftdw ?opulatIcs,f]hesri"[cetae["hlcitcchl sxeas e",isrlfpPo'.sft % 2o(=R1wusxeNLarpP?hadnepPo isrlfpPo'.sft-1]1idhsrlfpPo'.s''a)usxeNLarpP?hadnepPo isrlfpPo'.sft-1]. mutaer.''f.mutaritn)usxeNLarp# CC sbdnew.genrl Icihaso= ?opulatIchow stnn[del"tepose#Tis]idhmap nlambdax: x.ppose#TiasisrlfpPo'.el"te(emb(srow stnn[."C nio izrldomssrlfpPo'.sft)eeeeeeeeeer,k)",i:hro idel"tepose#Tisr:eeeeeeeer,k))))msrlfpPop.individualr[i]idhnepPo [i:eeee DxeNLdef[evovtr.'''):eeeeeeeeLsrlf.genrl Ici1 sSa]5e RYM=whleLsrlf.genrl Ici02:sxeas ?has_k-") *60:sxeas ?has_kGgenrl Ic",kLsrlf.genrl Ic:eeeeeeeer,kLsrlf.genrlttdG dRYMmitr LsrlfaApplgFitneslFunc IcrrusxeNLarpP?hassrlfpPop starstics) sxeas e e",isrlf.verboii1>1r:eeeeeeeer,k))))msrlf.diseloyl,sxeas e e",isrlfisDontA):eeeeeeeeeeeeeee)b"_kk........ ?has_k-") *60:sxeas ?has_kDontf[evovrrlggenrl Ic",kLsrlf.genrl Ic:eeeeeeee ?has_kCcurry(dbesy individua":eeeeeeeeLsrlfpPo..besy(emb(.diseloyl,sxeas s?has_kmFitneso", srlfpPop.besy(emb(.fitnes, DxeNLdefaavToFhlr(.''',chl_n i'):eeeeeeee_key( = icblea]5e RYMfopa=topn(chl_n i, "w") sxeas e",isrlf.verboii1>02:sxeas ?has_kSavrGAsri"'%s'...f" %(chl_n i,l,sxeas s icbl.dumpr(.''',cls)sxeas fo'.cloitd"DxeNLdefloadFssvFhlr(.''',chl_n i'):eeeeeeee#e probasl jm"# wC sb(iis...ri]hesri"[cetaea idntioroRbj'a:eeeeeeee#etofloadea cogaftato.:eeeeeeee_key( = icblea]5e RYMfopa=topn(chl_n i, "w") sxeas e",isrlf.verboii1>02:sxeas ?has_kLoadrGAsossv '%s'...f" %(chl_n i,l,sxeas fo'.cloitdsxeas Freurea icbl.load(fp ) DxeNLdefaav[GeneToFhlr(.''',chl_n i,asbisOfepose#Tis]id"_one):eeeeeeee_key( = icblea]5e RYMm",abisOfepose#Tis]iid"_on2:sxeas sbisOfepose#Tis]idzrldoms(l srlfpPop.individual)'ea]5e RYMfopa=topn(chl_n i, "w") sxeas e",isrlf.verboii1>02:sxeas ?has_kSavr%dldgensri"'%s'...f" %(s(l sbisOfepose#Tis)',chl_n i',sxeas s icbl.dumpr s(l sbisOfepose#Tis)',cpsrow stnn[."C nio isbisOfepose#Tis2:sxeas icbl.dumpr(.''fpPop.individualr[i',cls)sxeas fo'.cloitd"DxeNLdefget[GeneFssvFhlr(.''',chl_n i'):eeeeeeee_key( = icblea]5e RYMfopa=topn(chl_n i, "r") sxeas .genCuy(+=a icbl.load(fp )sxeas e",isrlf.verboii1>02:sxeas ?has_kLoadr%dldgensossv '%s'...f" %(.genCuy(',chl_n i',sxeas .individualri= o]a]5e RYM "C nio izrldomsgenCuy()eeeeeeeeeer,k)individualr.app)ada icbl.load(fp l,sxeas fo'.cloitdsxeas Freure)individuald"DxeNLdefload[GeneFssvFhlr(.''',chl_n i'):eeeeeeee(.''fpPop.individual1idhsrlfget[GeneFssvFhlrchl_n i',"DxeNLdefiini[GeneFssvFhlr(.''',chl_n i", xa wipSft =0,rmutaeOri,full =0'):eeeeeeee#e xa wipSft = howxmansri") 1 ossv aavedpPo?:eeeeeeee#ermutaeOrooea.n ILrmutae["hm?:eeeeeeee#efull =ooea.n IL[cetaeaefullptop,"C jm"# Frselcee xa wipSft?:eeeeeeeeold[Gene1idhsrlfget[GeneFssvFhlrchl_n i',sxeas e",ixa wipSft =RR0:eeeeeeeer,kLxa wipSft =s(l old[Gene )sxeas e",isrlf.verboii1>02:sxeas ?has_kold[Gene1hade%dl.individualf" %s(l old[Gene )sxeas ?has_kdcurry(r has%dl.individualf" %s(l srlfpPop.individual):sxeas ?has_kLoadr%d...f" %Lxa wipSft)sxeas e",fullousxeNLarpP?hadcurry(Oldsri0eeeeeeeer,kL"C nio izrldoms(l srlfpPop.individual)'wusxeNLarpP?haP?hadcurry(Oldsrdcurry(Olds %s(l old[Gene )sxeas r,kLsrlfpPop.individualr[i]idold[Gene[dcurry(Oldi]sxeas curry(Olds+Orin.fh/}_pee s e",rmuta'usxeNLarpP?has?has srlfpPop.individualr[i] mutaer.''f.mutaritn)usxeNLarpitleeeeeeeeeeer,k."C nio izrldomsxa wipSft'wusxeNLarpP?haP?haLsrlfpPop.individualr[i]idold[Gene[[i]sxeas e",rmuta'usxeNLarpP?has?has srlfpPop.individualr[i] mutaer.''f.mutaritn)u if __n io__RR= '__m s__'usxeN# Hddyn=ria="yodu"DoevovtseasbistR"#iily(esri".maimlft waireasu:,"DxeNsriv"MaxSumGA(GA'wusxeNLarpLdeffFitneslFunc Icrr.''',i'wusxeNLarpP?hasreureamax sum srlfpPop.individualr[i].genofyt ),0)usxeNLarpLdefisDontr.'''):eeeeeeeeeeee)_has_"Bbes:d"how stnn[1po],srlfpPo..besy(emb(.diseloyl,sxeas eeee)_hasusxeNLarpP?hasreure srlfpPop.besy(emb(.fitnesi1>30,"DxeN ?has_kDowx_eiw as_u"DoevovtseasbistR"#iily(esri".maimlft waireasu? d"how se",iysp sdr.pty fiil(). lowe()i[ ]RR= y 'usxeNLarp)_hasusxeNLarpg aidMaxSumGA( PopulatIc(20," Gen, .sft=10,".mod=Riily(e dhow stnn[1po],dAShowooooooowwwwwww.verboi=1, .el"tePern.s(=.1dhow stnn[1po],dAShowooooooowwwwwww.max 3,asmaxS,lsOr2, .mira=0dhow stnn[1po],dAShowooooooowwwwwww.crossoverP dsri)dhow stnn[1po],dAShowooo.mutaritn=0.1dldcrossovern=Sho5,.verboi=1,how stnn[1po],dAShowooo.maGgenrl Ic=50)usxeNLarpga.[evovtl,sxeas s?has_kTbesrloadr/savr...fusxeNLarpga.aav[GeneToFhlrk.maasuga.dgen"l,sxeas s?has_kDdeletsfdgen...fusxeNLarpga.pPop.individual1id o]a]5e RYMga.load[GeneFssvFhlrk.maasuga.dgen"l,sxeas s?has_kPrnesin.serri"[elsr"dtf[evovr...f,how stnn[iysp sdr.pty fiil()usxeNLarpga.[evovtl,sxeas s?has_kPrnesin.serri"Tbesy ii1 ossv chl%(soadeall N-BA muta)...f,how stnn[iysp sdr.pty fiil()usxeNLarps?has_kreIini"ialftpto...fusxeNLarpga.reIini"ialfttdsxeNLarpga.iini[GeneFssvFhlrk.maasuga.dgen"l,sxeas ga.[evovtl,sxeas s?has_kPrnesin.serri"Tbesy ii1 ossv chl%(soade1ri muta)...f,how stnn[iysp sdr.pty fiil()usxeNLarpga.aav[GeneToFhlrk.besasuga.dgen",%(.afpPop.besy(emb(ppose#Tia))usxeNLarpga.reIini"ialfttdsxeNLarpga.iini[GeneFssvFhlrk.besasuga.dgen",%1),0)usxeNLarpga.[evovtl,sxeas s?has_kPrnesin.serri"Tbesy ii1 ossv chl%(soade1, N-BA muta,,full)...f,how stnn[iysp sdr.pty fiil()usxeNLarpga.reIini"ialfttdsxeNLarpga.iini[GeneFssvFhlrk.besasuga.dgen",%rmutaeOri,efull =1)usxeNLarpga.[evovtl,sxeas?has_ usxeN# Hddyn=ria="yodu"Doevovts["hlweRiits/ biasso ooTaneurualnetworkusxeN# waywsvovteritalXORe proleu:,"DxeNossv pyrobo./bh .[elxe_key( *"DxeNsriv"NNGA(GA'wusxeNLarpLdef __ini"__r.''',ccousxeNLarpP?has]id"etwork)usxeNLarpP?had.add( Laywe(Riiput', 2) )usxeNLarpP?had.add( Laywe(Rhidden', 3) )usxeNLarpP?had.add( Laywe(Routput', 1) )usxeNLarpP?had.[eln'aRiiput', Rhidden')usxeNLarpP?had.[eln'aRhidden', Routput')usxeNLarpP?had.setIiputs([[0.0ASh0]dhow stnn[1po],dAShowoooooo[0.0A1h0]dhow stnn[1po],dAShowoooooo[1.0ASh0]dhow stnn[1po],dAShowoooooo[1.0A1h0]])usxeNLarpP?had.setOutputs([[0.]dhow stnn[1po],dAShowooooooo[1.]dhow stnn[1po],dAShowooooooo[1.]dhow stnn[1po],dAShowooooooo[0h0]])usxeNLarpP?had.setVverboity(0)usxeNLarpP?had.setTolnrnce(.4)usxeNLarpP?had.setLear si(0)usxeNLarpP?hag]idh.arrayifoyl,sxeas eeee srlfnetwork += n xeaaaaaaaaaGA. __ini"__r.'''how stnn[1po],dAShowooooo PopulatIc(ccd, Gen, .sft=s(l g)5,.verboi=1,how stnn[1po],dAShowoooooooooooooooo.mi=-1,asma=1,asmaxS,lsOr1,how stnn[1po],dAShowoooooooooooooooo.el"tePern.s(=.0i)dhow stnn[1po],dAShowooooo.mutaritn=0.05dldcrossovern=Sh6dhow stnn[1po],dAShowooooo.maGgenrl Ic=4005,.verboi=1)usxeNLarpLdeffFitneslFunc Icrr.''',.genPpo'wusxeNLarpP?hassrlfnetwork.unArrayifoy srlfpPop.individualr.genPpoi].genofyt usxeNLarpP?haey') dldourrctdldouy(+= srlfnetwork.sweepyl,sxeas eeeesreure4 -aey') usxeNLarpLdefisDontr.'''):eeeeeeeeeeeessrlfnetwork.unArrayifoy srlfpPop.besy(emb(.genofyt usxeNLarpP?haey') dldourrctdldouy(+= srlfnetwork.sweepyl,sxeas eeee ?has_kCourrct:o",dourrct,sxeas eeeesreuredourrct]RR=4,"DxeN ?has_kDowx_eiw as_u"Doevovtseaneurualnetwork waywscatdolXOR? d"how se",iysp sdr.pty fiil(). lowe()i[ ]RR= y 'usxeNLarpg aidNNGA(300)usxeNLarpga.[evovtl,sxeas ga.network.unArrayifoy.afpPop.besy(emb(.genofyt usxeNLarpga.network.setIitnre#n.(1 usxeNLarpga.network.sweepyl,sxeas ga.aav[GeneToFhlrkgannfpPo"tdsxeNLarpga.iini[GeneFssvFhlrkgannfpPo"td"DxeN ?has_kDowx_eiw as_u"Doevovtseaphrias? d"how se",iysp sdr.pty fiil(). lowe()i[ ]RR= y 'usxeNLarp)hriasaid"[evolu Icn=rontfcool= sarcBA echanism":eeeeeeeeLSft =s(l )hriasl,sxeas s?has,sxeas sriv" hriasGA(GA'wusxeNLarpLarpLdeffFitneslFunc Icrr.''',i'wusxeNLarpP?haeeeeLsum sSa]5eeeeeeeeeeeee."C cio izrldoms(l srlfpPop.individualr[i].genofyt A):eeeeeeeeeeeeeee e",isrlfpPo'.individualr[i].genofyt[c ]RR=)hrias[c eeeeeeeeeer,k))))) sum +=in.fh/}_pee s reurea[lor sut)a/s(l srlfpPop.individualr[i].genofyt usxeNLarpLarpLdefisDontr.'''):eeeeeeeeeeees s?has_"Bbes:d"how stnn[1po] srlfpPo..besy(emb(.diseloyl,sxeas eeees reure()hriasai=_kstrasg.j (srlfpPop.besy(emb(.genofyt),L""td"DxeNNNNNg aid hriasGA( PopulatIc(300," Gen, .sft=.sft,".mod=Richa dhow stnn[1po],dAShowooooooowwwwwww.verboi=1, .el"tePern.s(=.1dhow stnn[1po],dAShowooooooowwwwwww.crossoverP dsr2)dhow stnn[1po],dAShowooo.mutaritn=0.06dldcrossovern=Sh6d,.verboi=1,how stnn[1po],dAShowooo.maGgenrl Ic=0)usxeNLarpga.[evovtl, spyrobot/bh s/sovenora.py0etR755tRes764tRes310tRese41237010260524105t55476 0ustar dblankfaculty""" GsovenorfcodioR"C (srl rgpulatsf]tworks. """ ossv pyrobo./bh .[elxe_key( *"ossv pyrobo./bh .ravqe_key( ARAVQ, .uclideanDinelascrssriv" sovenorANDxeNL"""DxeNAn RAVQ victualbiassriv"."C ccombilatIcr N-BA"etwork. NDxeNL"""DxeNLdefiidco watibilitr.'''):eeeeeeee"""DxeNLLLLF"C neach.modl,= howodiffer .s(ri1 ossv neachR"#["h buiffe tites? ReursasbistR""DxeNLLLLiidco watibiliies. Note:"Aiirimskdi"acalt .eeeeeeee"""DxeNLLLL revalri= o]a]5e RYM "C .modlo(in[.'f.ravqf.modls2:sxeas tsum sS.0a]5e RYM RYM "C buifo(in.modl.[elte dsusxeNLarpP?has))) sum +=.uclideanDinelasc(.modl.veuctrasbuif,n[.'f.ravqf.mskl,sxeas eeeesrevalr.app)ad sut"DxeNLLLL reureareval, DxeNLdef dielasceTo(r.''',ceuctr'):eeeeeeee"""DxeNLLLLCco uirer.uclideanf dielasc ossv a,ceuctrdi"all.modloceuctrs. Note:"Aiirimsk"DxeNLLLLi"acalt .eeeeeeee"""DxeNLLLL revalri= o]a]5e RYM "C .o(in[.'f.ravqf.modls2:sxeas srevalr.app)ad=.uclideanDinelasc(veuctrasm.veuctras[.'f.ravqf.mskl) ,)Shst,setreureareval, DxeNLdefwinnverr.'''):eeeeeeee"""DxeNLLLLGeit'swinntsfn i",m.v. R"#[itwinnvetaeeeeeeee"""DxeNLLLLLindex1 [.'f.ravqfnewWinnveIinde"DxeNLLLLLfLLindex>=RR0:eeeeeeeer,knN ioRR[.'f.ravqf.modls.nN ilr[index:eeeeeeeeitleeeeeeeeeeer,knN ioRRiinde"DxeNLLLLtreureaN io, rlfravqfwinnve,"DxeNLdefii ui(r.''',ceuctr'):eeeeeeee"""DxeNLLLLWraupp)rahroun ravqfii ui()"Ohich rReursaLindex abimapp)-ri"..v. Hddy, wtfconovet"DxeNLLLLLindexri""aN i"taeeeeeeee"""DxeNLLLLLinde,".modlVeuctra rlfravqfii ui(ceuctr'"DxeNLLLLLfLLindex>=RR0:eeeeeeeer,knN ioRR[.'f.ravqf.modls.nN ilr[index:eeeeeeeeitleeeeeeeeeeer,knN ioRRiinde"DxeNLLLLtreureaN io,.modlVeuctro DxeNLdef ap(r.''',ceuctr'):eeeeeeee"""DxeNLLLL Reursa["h Lindex abceuctrdofswinntsfppose#Ti. Ssidsreffe:Arecrds"DxeNLLLLLindexofswinntsfppoo(inhineogramx abdecayHineogramtaeeeeeeee"""DxeNLLLLLinde,".modlVeuctra rlfii ui(ceuctr'"DxeNLLLLLfL rlfhineograms.has_keyLinde'):eeeeeeeeeeeessrlfhineogramr[indexm +=in.fh/}_peitleeeeeeeeeeer,k)",Lindex>=RR0:eeeeeeeer,keeeessrlfhineogramr[indexm+rin.fh/}_pee",isrlfdecayHineogramt.has_keyLinde'):eeeeeeeeeeeessrlfdecayHineogramr[indexm +=in.fh/}_peitleeeeeeeeeeer,k)",Lindex>=RR0:eeeeeeeer,keeeessrlfdecayHineogramr[indexm+=in.fh/}_pe reure(Linde,".modlVeuctr',"DxeNLdefdn tIiterr.'''):eeeeeeee"" Public#iilyrflcee "C getatsf]xt tite ossv RAVQ.e"""DxeNLLLL revalri=Natoeeeeeeeeetry2:sxeas srevaloRR[.'f.ravqf.modls.nn tIiter).nn tIiter)n.fh/}_peixcep( AtstrbuirEy') wusxeNLarpP?haL eso.........reureareval, DxeNLdef__nn ttitem__r.'''):eeeeeeee"" F"C Aiii(initnrbleipose#Tis2:sxeas >>> /sonbeta= sovenor"etwork)usxeNLarpP?ha>>> ."C nite (in/sonbe2:sxeas ...r s?has_nite:sxeas ....eeeeeeee"""DxeNLLLL reure srlfravqf.modls.nn tIiter).nn tIiter)n DxeNLdefaavRAVQr(.''',chl_n i'):eeeeeeee"" SavterRAVQ datadi"a,chl.e"""DxeNLLLLLsrlfravqfaavRAVQToFhlrchl_n i',"DxeNLdefsoadRAVQr(.''',chl_n i'):eeeeeeee"" LoaderRAVQ datadossv a,chl.e"""DxeNLLLLLsrlfravqfsoadRAVQFssvFhlrchl_n i',"DxeNLdefsetBallascdMmskrr.'''):eeeeeeee"""DxeNLLLLG#n.sneachlayweea idqtualweRiitts,r so waywall eRiits) sumi"ato.:eeeeeeee"""DxeNLLLLlayweWeRiits)= {}]a]5e RYM "C laywee(in[.'f.laywedsusxeNLarpP?hasiflaywe.kLin != 'Hidden'0:eeeeeeeer,keeeelayweWeRiits[laywe._n i]=flaywe..sft........iapPt =s(l layweWeRiitssrow stnn[."C nN ioo isayweWeRiits2:sxeas sayweWeRiits[_n i]o(=(astA /sayweWeRiits[_n i]() * astA /iapPtl,sxeas s?has_ksayweWeRiits2",/sayweWeRiits"DxeNLLLLLsrlfsetMmskr**layweWeRiitssrow stnn["DxeNLdefsetMmskrr.''aso**D==s):sxeNLarp"""DxeNLLLLTakesy(adinc Icary R"#[iyweenN ilx abimskd eRiits.:eeeeeeee"""DxeNLLLL# NN ilx re sey(p)du"Donsureo waywxlddy re o iprtop( crdvetaeeeeeeee*D==LayweNN ilx1 iD==._kecs) sxeas *D==LayweNN il.sey(p) sxeas imskIiput, imskCeltext, imskOutputri= o,= o,= orow stnn[."C nN ioo i*D==LayweNN ileeeeeeeeeer,k)",isrl[_n i].kLin RR= Iiput'0:eeeeeeeer,keeeeimskIiputm +=[iD==s_n i]]) * srl[_n i]..sft........ )",isrl[_n i].kLin RR= Celtext'0:eeeeeeeer,keeeeimskCeltextm +=[iD==s_n i]]) * srl[_n i]..sft........ )",isrl[_n i].kLin RR= Output'0:eeeeeeeer,keeeeimskOutputr +=[iD==s_n i]]) * srl[_n i]..sft........LsrlfravqfaetMmskreimskIiputm eimskCeltextm eimskOutputr )sxeas e",isrlf.verbolit):eeeeeeeeeeee)_has_"imsk:o", srlfravqf.msk ssriv" sovenor"etwork sovenor,A"etwork)rNDxeNLdef __ini"__r.''',buiffepSft =5, epsilIci1 s.2,NLdlta. sS6,how stnn[1po],dAShhineorypSft =5, .Dlphm sS.2, imskri= o,=.verbolit =0'):eeeeeeee#e]twork):eeeeeeee"etwork. __ini"__r.''',nN ioRR" sovenp)d"etworkd"how stnn[1po] .verbolit =.verbolit)usxeNLarp# ravq........Lsrlf/soventsfOrin.fh/}_peesrlflear sifOrin.fh/}_peesrlfravqe= ARAVQ(buiffepSft, epsilIc,NLdlta,hhineorypSft, .Dlph) ........LsrlfravqfaetAddMmodls(1 usxeNLarpLsrlfsetVverboity(.verbolit)usxeNLarpssrlfhineogram)= {}]a]5e RYMssrlfdecayHineogram)= {}]a]5e RYMssrlfrekey(Hineogramso(= 0DxeNLLLLe",hrimskrii= o'u sxeas LsrlfravqfaetMmskr.mskl,"DxeNLdefsetVverboity(r.''',chhH):eeeeeeeeNetwork.setVverboity(r.''',chhH........LsrlfravqfaetVverboity(.hhH"DxeNLdefaddThreeLaywesrr.''',i,hh, oH):eeeeeeeeNetwork.addThreeLaywesrr.''',i,hh, oH0DxeNLLLLe",hr srlfravqf.msk):eeeeeeeeeeeessrlfsetBallascdMmskr',"DxeNLdefdntworkxS,lrr.''aso**D==s):sxeNLarp)raiiiAtstrbuirEy') , "T"hri etc_ hashriyetbeen rwriten","DxeNLdefsetLear si(r.''',chhues):sxeNLarpPsrlflear sifOrchhueo........LsrlfravqfaetAddMmodls(chhuesrssriv" sovenorSRN sovenor,ASRN): NDxeNLdef __ini"__r.''',buiffepSft =5, epsilIci1 s.2,NLdlta. sS6,how stnn[1po],dAShhineorypSft =5, .Dlphm sS.2, imskri= o,=.verbolit =0'):eeeeeeee#e]twork):eeeeeeeeSRN. __ini"__r.''',nN ioRR" sovenp)dAare SRNd"how stnn[1po] .verbolit =.verbolit)usxeNLarpLsrlftbh reNetwork +=SRNnN ioRR" sovenp)dTbh re SRNd"how stnn[1po] [1po] .verbolit =.verbolit)usxeNLarpLsrlftbh reNetwork.setIiitCeltext(0)usxeNLarpssrlfsetIiitCeltext(0)usxeNLarpssrlflear sifOr0usxeNLarpLsrlftbh reNetwork.lear sifOrin.fh/}_pe# ravq):eeeeeeeeLsrlf.soventsfOrin.fh/}_peesrlfdecayfOrin.fh/}_peesrlfravqe= ARAVQ(buiffepSft, epsilIc,NLdlta,hhineorypSft, .Dlph) ........LsrlfravqfaetAddMmodls(1 usxeNLarpLsrlfsetVverboity(.verbolit)usxeNLarpssrlfhineogram)= {}]a]5e RYMssrlfdecayHineogram)= {}]a]5e RYMssrlfrekey(Hineogramso(= 0DxeNLLLLe",hrimskrii= o'u sxeas LsrlfravqfaetMmskr.mskl,"DxeNLdefsetVverboity(r.''',chhH):eeeeeeeeNetwork.setVverboity(r.''',chhH........LsrlfravqfaetVverboity(.hhH"DxeNLdefadd(r.''',[iywe,=.verbolit=0s):sxeNLarp)raiiiAtstrbuirEy') , "Useri etc_ ddLaywer N-BA sovenorSRN""DxeNLdefaddLaywe(r.''',nN i, .sft,=.verbolit=0s):sxeNLarpSRN.addLaywe(r.''',nN i, .sft,=.verbolit)usxeNLarpLsrlftbh reNetwork.addLaywe(nN i, .sft,=.verbolit)u"DxeNLdefaddCeltextLaywe(r.''',nN i, .sft,=hiddenLayweNN io(=Rhidden', .verbolit=0s):sxeNLarpSRN.addCeltextLaywe(r.''',nN i, .sft,=hiddenLayweNN i,=.verbolit)usxeNLarpLsrlftbh reNetwork.addCeltextLaywe(nN i, .sft,=hiddenLayweNN i,=.verbolit)u"DxeNLdef[eln'a(.''',cssvNN i,=toNn i'):eeeeeeeeSRN.[eln'a(.''',cssvNN i,=toNn i'usxeNLarpLsrlftbh reNetwork.[eln'acssvNN i,=toNn i'u"DxeNLdefaddThreeLaywesrr.''',i,hh, oH):eeeeeeeeSRN.addThreeLaywesrr.''',i,hh, oH usxeNLarpLsrlftbh reNetwork.setLayweVvecifilatIc(0)usxeNLarpssrlftbh reNetwork.sh reWeRiitsbr.''')DxeNLLLLe",hr srlfravqf.msk):eeeeeeeeeeeessrlfsetBallascdMmskr', "DxeNLdefdecayMmodlVeuctrcsr.'''):eeeeeeeegood1id o]a]5e RYMgoodNN ilx1 orow stnn[."C nN ioo iisrlfdecayHineogramt_kecs)):eeeeeeeeeeee)oe1idhsrlfravqf.modls.nN il.Linde(_n i',sxeas RYMgoodr.app)ad(ssrlfravqf.modls.[elte d[)oet] ,)Shst,settr goodNN ilr.app)ad(ssrlfravqf.modls.nN ilr)oet] ,)Shst,sessrlfdecayHineogram)= {}]a]5e RYMssrlfravqf.modls.[elte d)= good]a]5e RYMssrlfravqf.modls.nN ilx1 goodNN il)DxeNLLLLe",ifoy srlfstri"acm[eln'acssvNN i,=toNerRAV2605.verbolit)us0.2n.modl.[elte desrr.''',i,r3. NDxeNL"""D3had.["ac,)Shst,setreepSft8=1eeeereureasrSft8 * srl[_n i]..sft...Mal, DxeNLdef:f.verlfravqf.:f.sxea(ln'acssvNN i,=toNer`ily(v)`ta,hhineoerbolit)us0.2n.modl.[elte dsft...Mal, DxeNLdef:f.vxea(ln'acssvNN i,=toNer`ineogram)= {} ga.DxeNLLLLe",hreeee"" PNn i} ga.DxeNLmskOutputr +=[iD=tCeltext(0*layy(..fitpoch........)Shst,ssrlf.fepSft =5, epe desrr.Pft.(.Mal, DxeNLdef:f.vxealn'acssvNN i,=toNer`eslFunc IcrrusxeNLarpPeNLarpLsrlfsetVvHineogramt.has_keyLindePft.(.RNLarperlfravqf.:f.sxealy(v)`ta,hhineoerbolit)usc IcrrusxeNLarpPad(ss,k."C nio izrldomsxa wipSftPft.(.Dr sirlfravqf.m:f.sxealy(v)`ad(ssrlfravqf.P?had.setVverboity(ta,hhineorypSft, .Dlph)r +=[iD=tCeltext(0*layLarpPad(ss,k."C nio izrlLarpPad(sseRiitsbr.''')eslFunc IcrrusxeNLarpPtpoch........)Shst,ssrlf.fepHineogramt.has_keyLindePft.(.Afini"ar si :f.vxealn'acssvNN i,=toNer`eslFunc Ic srevaloRR[.'f.ravqeeeeei',"Brk.le')DxeNLLLLe",hrxeNLdeOuontr.'''):xt tite ossv RAVQxeNxeNLdeOuontefaav[GeneToFhlr(. sr,"DxeNLdefdn #LdefiNLarpiecnewcusxeasxeNLdeOuoLLLe",hr svN....rSft, .Dlph)rlf.el"te(oity(.verbneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put, imskCeltext, imskOutputlafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeeeneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put,n RR= Iiput'0:eeeeeeeer,klafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeeeneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put,= Celtext'0:eeeeeeeer,kelafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeee#ssvFhtaeresulaeeee eeeeeeee(= 0DxeNslFunc Ic sr oH):eeeeeeeeSRN.addThhree** svN..)R[.'f.ravqeeeeei',"eRiitsbr.''')DxeNLLLLe",hrxeNLdeOuontr.'''ha>>> ."C nite (iossv RAVQxeNxeNLdeOuontefaav[GeneToFhlr(. sr,"DxeNLdefdn #LdefiNLarpiecnewcusxeasxeNLdeOuoLLLe",hr svN....rSft, .Dlph)rlf.el"te(oity(.verbneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put, imskCeltext, imskOutputlafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeeeneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put,n RR= Iiput'0:eeeeeeeer,klafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeeeneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQxeNl eRiits) put,= Celtext'0:eeeeeeeerr,klafsileiM "C laywee(in[.'fLe",hr svN..ts)= {}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(OldsrdcurtextlsRRR0:eeeeeee#ssvFhtaeresulaeeee eeeeeeee(= 0DxeNslFunc Ic sr oH):eeeeeeeeSRN.addThhree** svN..)R[.'f.ravqork.addThreeLaywesrr.''',i,hh, oH0Dr +=[iD=tCeltext(0*layNLarpLsrl_cvxt'0:eeeeeeee#om.rldalweRiakesy'usedx_eiwbyx_ei,Larp"""DxeNLxeNLa*layLreext(t'0:eeeeeeee#okesy(adi aall =ssv RAVQxeNNLarpLsrlftbh reNetwork.setLayyyyyweVvecifilatIc(0)usxeNLarpssrlftbh r +=[iD=eeeeeeeeSRN.addThreeLdeeee"""DfepHineogramt.has_keyLindeN i,=toNn i'u"DxeNLdefaddThreeLaywesrr.''',i,hh,.has_keyLindeN i,=toNn i'u"DxereeLaywesrr.''',i,hh, oH uuuuu.''abimskd eRiits.:eeeeeeee"""DxeNuuuu.''abimskd ee sey(p)du"Donsueee#omapldcurr"""in RRct'0:eeeesula.''et)du"Donsueee#odefilrck. NDxect'0:eeealweR'iak0)usa') wusxeNLarpP?haL nNLdefadeeeeeessrs)= {}]a]5eneachlayweea idqtualweRias_",iieeeeeeeetabimskd ee sey(p)du"Donsueeek0)ut'0:eeessrlfsetBallaaaaascdMmskr', etabimskd eHineogramt.has_keyeer,k)",isrl[_n i].kLin RR= Iiput'0:eeeeeeeer,keeek0)ut'0:eeeextla,h(r,k)",isrl[k0)usa') wp)du"Donsueee#odefilrck. NDxe"in RRalweR'ia etc_t'0:eeeeeeee#okndilrck. NDxeoupt RRalweR'iaa.''etsk):n') wed_kecs) sr%dldgensossn RV etc_.ssrlfsetBallaaaaaa.''etV etc_.ssrlfsetBallaaaaaneachlaywN==._kecs) abimskd eHineogramt.has_keyeer,k)"hlaywN==. imskIiput, imskCeltext, imskOutputnsossn RV etc_.extla,h( +=[ihlaywN==. .''',i,hh,.has_keymssrlf.cr"hlaywN==. imskIiput,= Celtext'0:eeeeeeeerr,kaaaaa.''etV etc_.extla,h( +=[ihlaywN==. .''',i,hh,.hasarNLdeIry(o.sn RV etc_.ek0)ut'0:eeeeaa.''etV etc_k."C nio izrlLarpP'f.rarNLdeIrp)du"Donsueee#odefihri et''',i,hh,.hasarNLdeOuontr.'''):xt tite ossv RAVQ_keyeexeNLdeOuontefaav[GeneToFhlr(..hasarNLdeOuontarNLdeIr)du"Donsueee#odefihripiecnewcusxeasxeNLdeOuoLLLe",hrrrrr svN....rSft, .Dlph)))))rlf.el"te(oity(.verbbbbbneachlaywN==._kecs) abimskd eH #L"""Dxrn.s(= 0.0a]RAVQ_keyeer,k)"hlaywN==. imskIiput, imskCeltext, imskOutputnsolafsiler,k)"hlaywN==. ilaywee(in[.'fLe",hrrrrr svN.."hlaywN==. eNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(Old))))rlf.el"textlsRRR0:eeeeeeebbbbneachlayweea idqtualweRiiLdefdn #L"""DxOri,efull =ssv RAVQ_keyeel eRiits) put,n RR= Iiput'0:eeeeeeeer,knsolafsileiM "C laywee(in[.'fLe",hrrrrr svN.."hlayw}]a]5eeNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(Old))))rlf.el"textlsRRR0:eeeeeeebbbbneachlaywN==._kecs) iiLdefdn dn #L"""Dxrn.s(= 0.0a]RAVQ_keyeer,k)"hlaywN==. imskIiput,= Celtext'0:eeeeeeeerr,kaaaalafsiler,k)"hlaywN==. ilaywee(in[.'fLe",hrrrrr svN.."hlaywN==. eNLarNLdeOuo'wusxeNL:wusxeNL+lafsiP?haP?hadcurry(Old))))rlf.el"textlsRRR0:eeeeeeebbbb#ssvFhtaeresulaeeee eeeeeeee(= 0DxeNslFunc Iccccc oH):eeeeeeeeSRN.addThhree** svN..)Rc Iccccc sr,RN.addThhreeLaywesrr.''',eogram)= {}]aEOrin.fverboityiveEOrin.fh/ svE...Lsrlfrsxeas fo'.cloif/ svE...Lsrlfefaav[GeneToFhlr(. svE...LsrlfryiveEOrin.fGeneToFhNn i}]aEOrin.fverboityiveEOrin.fbh reNetwork +=SRNnN ioRR" soveEOrin.fv svE...Lsr,eogram)= {}]aMo):n'i".maimityiveMo):n'i"h/ svMo):n'i"lfrsxeas fo'.cloif/ svMo):n'i"lfefaav[GeneToFhlr(. svMo):n'i"lfryiveMo):n'i"GeneToFhNn i}]aMo):n'i".maimityiveMo):n'i"bh reNetwork +=SRNnN ioRR" soveMo):n'i". svMo):n'i",eogram)= {}]aSequeIc(m() xS,lrr.''aso**D==s):sxeNLarp+=SRNnN ioRR" soveSequeIc(m() xeen rwreeeebbbb#sr(.'sl",isrlover sitary R"ed/)fitne doesn'NLxetteri=NatoeeeeNn i}]aSequeIc(m() xS,lrr.''aso*k.[eln'aogram)= {}]afdntworkxS,lrr.''aso**D==s):sxeNLarptCeltext(0)ubuirEy') , "T"hri Lsrlftbh reNetwork.setIiibuirEy') , "T"hri etc_ hashriyetbeen rwr') , "T"hri work.setIiibuirEyold[Gene[[i]sxeas e",r" Gsoveosh/ zip,lrk .cloif/n'ayswwwwv) sum4x_eiw as_u"Doev "c.f,how s: pythoeeeeee tCeltext(0reoveEOos cayfravqfaavRyswexitOrin.fh/# o"td_kec20,key(l ?heasexpThr):n'al eeeeeeee(l.en.fh/loLaywes.iini=/ zip.ualr['loLaywes.l..gzxeNLrad.add(sarpor.iini=/ zip.ualr['sarpors.l..gzxeNLrad.add(sarpor.'''):rpor.iinPo"tdsxeNeeee"""loLayweswedsuoLaywes.iinPo"tdsxeNeeee"""loLaywes.iinPndividualri=):rpor.iinPndividualri=#omakxe"in R/a.''et petterwusxeNLa"in R_.ssrlfsetBneachxeNeea idrpor. fo'.cloiin R_ravqf.mod'f.rsft-1]. mue",isrx),chxeN.eeeep().splitO)`eslFuna.''etskssrlfsetBneachxeNeea loLaywesw fo'.cloa.''etsravqf.mod'f.rsft-1]. mue",isrx),chxeN.eeeep().splitO)`eslFuniPsrlfdcrn'acrpor.....eeeep().splitO)`alri=#oLLLLchoicehease...Lsrlursa["AddMmay eaphgaldcurryqui"edalri=#oiitssrowfh/}_roboryNNLdesh/eaphgeee(lat=stirEhowarevakxelat=sepPsrlf.sf#r.app)ad s_eiwN-BA"es_kERiinde"Dtnn[1cdcuopirEy't=stirEhlculaatlf.sf#rNLde. f.mskeaphgali.reIoughoif/cdcu["AddMstirEhlsrn'tnrlanlf.sf#rdefs H..easa htssoiitssrMstirEhlsrmo"""DorryfhH] DDxeNLLLatlf.sf#rNLdelatIctneso....lcuveemp(eee(lat=vidualavik. NDxel,sxeaslf.sf.....reureare''',5, 2S,ls0.3,nor,0.2)lf.sf...i}]aSequeIc(m() x"ry R"ed-sxeNLaroul()usxeN...i''',nN i,"sxeNLgen6)usxeN...i''',nN i,"coloLgen4)usxeN...i''',nN i,"s'alavgF1)usxeN...i'''s):sxeNLarpSR'ct'0:eexeNiPsrlf/2sxeNLarpP?had.ad...i''',nN i,"NLarpP"eNiPsrlf/2had.ad...i''',nN i,"arpP?hgen4)usxeN...idef[eln'"sxeNLgen"NLarpP")usxeN...idef[eln'"coloLgen"NLarpP")usxeN...idef[eln'"s'alavgF"NLarpP")usxeN...idef[eln'"co'0:eevgF"NLarpP")usxeN...idef[eln'"NLarpP"eN"arpP?hg)usxeN...i'f.t', 1) )u'sxeNLxeN0*D=='coloLeNLa6*D=='s'alaeNLa7puts([[0...i}]aT.''ets(oa.''ets[:389] nio 389..r_eiweeepknN ioRs([[0...i}]at', 1) oiin R_[:389] nio eeeeso): peu.dgen".'''""Doolf.sf...i}]aStopg aid h(.95ts([[0...i}]aRShst,ssrl(1ts([[0...i}]aRS}]afimitOrin.fh/...i}]aTn[1po],dA0.2)lf.sf...itCeltext(0)u]0Dxeyswwwwv[1uts([[0xeNNLar...itCeltext(H #LxeNNLartCeltext(,."_kes srosetDrk.setIkecscar... fo'.clo...iwork.setIiitCelte...i}]aRS}]aEOos (]0Dxeyswwwwv[2]))lf.sf...iar sifO]0Dxeyswwwwv[3]arpga.reIini" sovenb=Whl",r...itCeltext(rpga.reIini"Dr sihl",r...iar silf.sf...ieeeeeLarpga.reIini...ie"etwork.reIini"Dr si:",r...iar silf.sfitn=0.1dldcr"Tbesy iiitn=0..msktyweWeRieer,"Tbesy ii...itCeltext(0)u0s([[0...i}]aT.''ets(oa.''ets )s([[0...i}]at', 1) oiin R_ )lf.sf...itCeltext(0)u0s([[0tsxeaeNLarpLde.'''):=0...i} ga.networitn=0.SS: %.4f g aid h: %.4fs .tsxeaeNLarpL /ue",isr.'''))`alri=#osmaptnn[1-i):eeeeer... fo'o.mutaritn=0.06dldcrossovern=Sh6d,.verboi=1,how stnn[1po],dAShowooo.maGgenrl Ic=0)usxeNLarpga.[evovtl, sppyrobot/bh s/soveno3545243160etR755tRes764tRes310tRese41237010260524105t55476 0ustar dblankfacullllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllleNLdP riul5eneacrP tic Prx abceExtcrplavik. GA (a)gaicbl.dumeystemxereeL eeesreeLxeth icbl.dumpicbl.dueemp(LLL ryxea[1pos ### WORKAROUND:uveepas can'NLas its"sptnn[1vidualavs ### eeee)b"ly usl,sxelob'):sreeL.envL revoieeee(l sit ### eeeeP ### FIX:uvon'NLpeixveepas ALLOW_SELF_EVALIiiteneFri-estiremp(r..(o"tlseNiPeeeee",iseeeetc) ########## sarcBA e"ossv estir Desigwed_VQFssvFhtwor_kCovakxetwor ########## ownde.'o. lideanv_vidu(*eempnds,chhues))n.fh/}_protrpLed_genos io,.[1po="r"_VQFnNLarvironmmbilatIetryed.eNLdefsexeNeempnds[1]"DfepHineogramt sr yswusxebil#NNLar.f,hpythoe'a wive "is.inityfravqf0.2n.modl.[elt sreempnds[0] /ue",isreempnds[1]) lideifirE_vidu(eempnds,Larv)""" ossv SpeceLsrssvm rsfzy estir) wp_r.'''f-irEy')vfs N(.'slarvLsrlfravqfa.ii_stieNif_stieN0.2n_e"" Peempndsravqfa.ii_ry( p" Pa.ii_sti.esti(arv)defsexeN(a.ii_ry( p).modl.[elt srif_sti.esti(arv)defse0.2n.modl.[elt sr0.2n_e".esti(arv)d i'):nd_vidu(eempnds,Larv)""" ossv SpeceLsrssvm rsfzy estir) wp_r.''shl.d-circui'pnd's N(.'slarvLsrlfravqfif/n'aeempnds,"DfepHineogramt sr1defse0.2n.modl.[eltcar" Peempnds....esti(arv)defse([[0xeNNLarcar[GeneToFhlr(. sroity(.verb0.2n.modl.[elte d sr:nd_vidu(eempnds"te(,Larv)d i')or_vidu(eempnds,Larv)""" ossv SpeceLsrssvm rsfzy estir) wp_r.''shl.d-circui'oLes N(.'slarvLsrlfravqfif/n'aeempnds,"DfepHineogramt sr0defse0.2n.modl.[eltcar" Peempnds....esti(arv)defse([[0xeNcar[GeneToFhlr(. srineogramr[indexm+rin.fh/}_pe srer_vidu(eempnds"te(,Larv)d ########## Endik. sarcBA e"ossv estirriten","Oemp(LL""" ossv tnes,s rehtop(eemp(LLNiPssvmaywes.: x. fitneso,srlf.el"te(embvidu,Peempnds tnn[1[1pooRR"r""" SavterRAVQ ds):strunde"Dssv Oemp(LL 'usxe.sayweWeRividualav. Oe"DxeNlxrn.okes" SavterRA-Peempnds (nu"howik. eempnds,;Lpeidineogra dst(0rfitne vidualavic.f,s SavterRA-P[1poo("r"_eog"sfzy",;Lveemp(ssno']...okesyestirsri.efo"""bext(t'0:eeeeeeeetryeds reviduw stnn["DxeNLdefsetMmshri viduoRRvidudefsetMmshri eempnds tneempndsravqftMmshri [1pooRR[1poriten","Ervironmmbi""" ossv tnes,s rehtop(arvironmmbilaPssvmaywes.: x. fitneso,srlf.el"te(embits"..rSf**D==s):sxeNLarpenvL=bits"============eso,updlfpPop.imbits"**D==s):sxeNLarpenv.updlfpPbits".======eso,emp(r..DxeNLLLLe",hreeee"""DxeNLLLLG#n.sneac'):eeeeeNLarpenv=LayweNN il.sey(p]idhmsl,lt .eeeNLarpenv['):e(,LOemp(LLsum +=in.fh/}_pee eeee""['):e(ntr.'''env['):e(ineogramt sreeee""=====eso,eemp(LL..DxeNLLLLe",hreeee"""DxeNLLLLG#n.sneac'):eeeeeNLarpenv=LayweNN il.sey(pmsl,lt .eeeNLarpenv['):e(,LOemp(LLsum +=in.fh/}_pee eeee""['):e(ntr.'''env['):e(ineogramt sreeee""=====eso,sfzyOp..DxeNLLLLe",hreeee"""DxeNLLLLG#n.sneac'):eeeeeNLarpenv=LayweNN il.sey(pmsl,lt .eeeNLarpenv['):e(,LOemp(LLs0*layLarpPenv['):e( [1pooR=g"sfzy"um +=in.fh/}_pee eeee""['):e(ntr.'''env['):e(ineogramt sreeee""=====eso,rOp..DxeNLLLLe",hreeee"""DxeNLLLLG#n.sneac'):eeeeeNLarpenv=LayweNN il.sey(pmsl,lt .eeeNLarpenv['):e(,LOemp(LLs0*layLarpPenv['):e( [1pooR=g"r"um +=in.fh/}_pee eeee""['):e(ntr.'''env['):e(ineogramt sreeee""=iten","DPTree""" ossv Meee eeee strund"""neacrP.: x. fitneso,srlf.el"te(embmans*atIcr.Dx**D==s):sxeNLarpoividuaD==s):sxeNLarpatIcr.Dx.ssrlfsetBallahri oot r',"DxeNLdefdn LarpPadpileoity(.verbneacatIcreeeeatIcr.Dx=LayweNN il.sey(p]idhmsl,lt .eeeatIcr,"DPTrees?has srlfpPop.indiviatIcr.Dxeavqf.moDPTreeeatIcr`eslFunc Icrrusindexm+rin.fh/}_peop.indiviatIcr.Dxeavqf.moatIcr`eNLdefdn LarpPrlfdenr...fu0n i]n'acssvatIcr.Dx*D==s):sxeNLarpexfdenr...fu0n i]n'acssvatIcr.Dx*D==s):sxeNLarpreove_kLoas=======eso,leaf.DxeNLLLLe",hreee srn'acssvatIcr.Dx*"Dfep=====eso,e''')a dhow.DxeNLLLLe",hrr +=[iD=leaf.s?has srlfpPe''')_pdhow stnnl#N) 1 o=[iDneogramr[indexm+rin.fh/}_pee''')_pdhow stnnl#NfisDon=[iDneogramr[}_pee''')_pdhow s+=reedueeeeemp(LLi''', LarpPrlfdenr.",%(.afpPop.b}_pee''')_pdhow s+=reedueeeeemp(LLi''', LarpPexfdenr.",%(.afpPop.beee sre''')_pdhow =====eso,emp(ra dhow.DxeNLLLLe",hrr +=[iD=leaf.s?has srlfpPe''')_pdhow stnnl#N) 1 o=[iDneogramr[indexm+rin.fh/}_pe#uvon'NLfisDon=[iDneogramr[}_pee''')_pdhow s=reedueeeeemp(LLi''', LarpPexfdenr.",%(.afpPop.beee sre''')_pdhow =====eso,getTmp(ra dhow.DxeNLLLLe",hrr +=[iD=leaf.s?has srlfpPeee sr[NLarpoi".modlVeuctra rlfravqfii lyseessrlfsetBallaaaaascdM):sxeas ?has_atIcr.Dx*s?has srlfpPop.ilysePexfd.modls.nNatIcr.Dx ]RR=)tTmp(ra dhow.rpP?had.add( Layeee srnyse=====eso,getTmp(rTreeete(embpo',i,hh, oH0Dr +sr.''fep0*layLarpPleaf.s?has srlfpPeee sr=[iDneogramr[cl"te(oity(.verbneac):sxeas ?has_atIcr.Dx*s?has srlfpPr +sr.'< LarpPexfdenr.r.''+[cl"um +=in.fh/}_pee eee sr oH):atIcr.Dx ]RR=)tTmp(rTreeesr.'-wsvovm +=in.fh/}_pcl"textLarpPexfdenr.r.'=====eso,geta dhoete(embpo',i,hh, oH0Dr +sr.''fep?has srlfpPeee sr=[iDneogramr[offs....r1ity(.verbneac):sxeas ?has_atIcr.Dx*s?has srlfpPtpntr.'''atIcr.Dx ]RRe''')a dhow. ossv RAVQ_keyeesr.'-woffs...=e''')_pdhow : breakl#NNLsr(.'l",idormo"" fitneso,Pern.s(=ete(embpae)b"2tePern.s(=.1dh**D==s):sxessv MakxelwLsr(wchln[1pos,Lry eee sredcuoldx_eis.eNLdefsetMmsif/flip(Pern.s(=.1dh**D==s):sxeeeeepae)b"1 r'=[iDneogramr[====emp1 r'pae)b"1R=)hrias[.e''')a dhow. ossv RAVQ====emp2 r'pae)b"2R=)hrias[.e''')a dhow. ossv RAVQ====rfit1y'']0Dxemp1 * rfitne.rfitne.r ossv RAVQ====rfit2y'']0Dxemp2 * rfitne.rfitne.r ossv RAVQ====tubeeee1 r'pae)b"1R=)hrias[.=)ta dhoe=rfit1y ossv RAVQ====tubeeee2 r'pae)b"2R=)hrias[.=)ta dhoe=rfit2y ossv RAVQ====p1leadepas (epae)b"1 ossv RAVQ====p2leadepas (epae)b"2y ossv RAVQ====sLarprei aaTreeep2tetubeeee1 ossv RAVQ====sLarprei aaTreeep1,=tubeeee2 ossv RAVQ====p1e=)hrias[vreove_kLoas===============p2e=)hrias[vreove_kLoas===============eee srp1,=p2# o"eeeeeer(wcas ie"ossv rei aammbi fitnnnnnindexm+rin.fh/}_pe srte(embpae)b"2=====eso,i aaTreeete(embtubeeee,ceempns i aaCtIcr.Dx.ss1**D==s):sxessv R i aaeeemp(LLN*layyoe"DxeNlly)eatIcr.Dx.xeNLdefsetMmskredctVveeL ellceeees,Lry ibilitceeeesi,hh, oH0DNubeeee=oivideempRuaD==s):sxeifs i aaCtIcr.Dx:ossv RAVQ====tubeeeepatIcr.Dx.sseempRatIcr.Dxossv RAVQ====tubeeeeprlfdenr...feempRrlfdenr.ossv RAVQ====tubeeeepexfdenr...feempRexfdenr.rbolit)usc Icrrud i')wrapObj(rlf.el"_symbol,LrbjT1pot="DPTree)""" ossv A)wrap Icassv paese. ShouldLwive setBarerlfs)vfs..xeNLdefse e"" Prlf.el"_symbol :sxeifs]idhmsl,lt .eeealf.el"_symbol,LrbjT1pos fo'.cloif/alf.el"_symboleeee reeL.env.envxm+rin.fh/}_pe e"" PebjT1poealf.el"_symboldr.pty fiinif/c1poealf.el"_symbold"Dfec1poe""):eneFri-estirnu"how?LayweNN il.seifs]idhALLOW_SELF_EVAL=LayweNN il.se}_pe setVverboity(r.''',ch("") sers"]idhmnlarv,0*layALLOW_SELF_EVALIii0xealalf.el"_symboldr.pty fil.seifs"."eeeealf.el"_symbol=LayweNN il.se}_pe e"" PDPTreee",isralf.el"_symboldeslFunc Icrrusindexm+rin.fh/}_peop.i e"" PDPTreedhoealf.el"_symboldeslFun srevaloRR[ i')paese(exp,LrbjT1pot="DPTree)""" ossv Paesereur sr"(+ 4 5)"eee reuDPTreesexpreoswes.: x. fitnlt ck essrlfsetBalf.el"_symbole=r''LLe",neac):sxeas exp)s fo'.cloif/expr.''==r"("um +=in.fh/}_plt ckravqf.mod[ RYMgoodrinif/expr.''==r")":eneendik. ibilr.pty fil.seifsalf.el"_symbolesumext'0:eeeeeeeerr,kif/n'at ck[-1]) >=pHineogramtmodlVeuc/}_plt ck[-1]ravqf.mowrapObj(rlf.el"_symbol)c eeeeeeeeeerrrrrindexineogramtmodlVeuc/}_plt ck[-1]ravqf.moalf.el"_symbold"#uvon'NLwrap uaD==s):sxeverbsetBalf.el"_symbole=r''LLe",verbsetBalf.el"_symbole=ravqly(mbjT1po,plt ckrpop(-1) RYMgoodrinif/expr.''==r' ':b#sr(x o=ymbol :sxey fil.seifsalf.el"_symbolesumext'0:eeeeeeeerr,kif/n'at ck[-1]) >=pHineogramtmodlVeuc/}_plt ck[-1]ravqf.mowrapObj(rlf.el"_symbol)c eeeeeeeeeerrrrrindexineogramtmodlVeuc/}_plt ck[-1]ravqf.moalf.el"_symbold"#uvon'NLwrap uaD==s):sxeverbsetBalf.el"_symbole=r''LLe",verbindexineogramtmodlalf.el"_symbole.modxpr.'slFun srwrapObj(rlf.el"_symbol) # A)lt .darp(arvironmmbilits"DxeNLL: envL=b{'+' :fOemp(LLeeemp(LLi'''),"#uvefa p stoneempnds=2ineogram'-' :fOemp(LLeeemp(LLitub[1po],dASh'*' :fOemp(LLeeemp(LLimul[1po],dASh'/' :fOemp(LLeanv_vidu[1po],dASh'ifirE' :fOemp(LLeifirE_vidu,Peempnds=3,.[1po="sfzy",,"#udxplici"ly ibilitempndsravqftMm'pnd' :fOemp(LLe:nd_vidu, .[1po="sfzy",,ravqftMm'or' :fOemp(LLeer_vidu, ..[1po="sfzy",,ravqftMm#udxplici"ly ibilitempndsxineogram#'rnd' :fOemp(LLesft-1]: rfitne.rfitne.r,Peempnds=0,.[1po="r",,ravqftMm#1: 1,=2:2te3:3,.4:4,ravqftMm} # LLLLlt .darp(arvironmmbi: sreeL.envL="Ervironmmbi(arv)dold[Gene[[i]sxeas e",rhreeL.env.updlfpPb{'i1':0,.'i2':0} RYMgarpP?h.oii[ 0,.1,.1,.0 ]f#rdrpP?h.oneacXOR :sxeiin R_.ssrb{'i1' :f0,.'i2' :f0}1po],dAShowoooooo{'i1' :f0,.'i2' :f1}1po],dAShowoooooo{'i1' :f1,.'i2' :f0}1po],dAShowoooooo{'i1' :f1,.'i2' :f1} lfsetBten","DP(GAs fo'.cloe",isrlf.verbolit):cnt):rr.''',i,hh, oH0DDDDDGAS6,how stnn[1po]loyl,sxeas :cnt):DPrP , uga." stnD==s):sxe srlfpPafpPop.bbbbbbbbbbbbbbbbbbbNNNNNg aid hriasGAnn[1po],.ss1*ow stnn[1po] .verboverP dsr2.ss100ow stnn[1po] .verbn[1po],.ss1*w stn fo'.cloe",i_"Bbes:sarcBA eete(embpo',i,hh, oH0D.cloeiff e(oity(.verbbbbbneac):sxeas iin R_*s?has srlfpPop.iover go"" Piin R_[i],rdrpP?h.r.'slFunnnnnnnnnnnnn e"" Py(v)`pop5e Rividur.[eas .esti(h.. ossv RAVQ_keyyyyy'):ees=ree e""- go"ossv RAVQ_keyyyyyeiff .moabs('):e==============eee srove(4"- eiff",%(.afpP fo'.cloe",iisDonefiter).nn tIiterbbbbnit" Py(v)`pop5bestMe"howp_"Bbes:ossv RAVQ====sLarppop5bestMe"howpanDgenof==============ptn==============eee srnit" = 4.afpP fo'gpt="DP(5%(.afpPgpRevolve.networitn=0 -----------------------------------------------------------------"LLe",neac)io, Piin R_.nn tIiteritn=)io,PgpRpop5bestMe"howpesti()ioeslFun aw_"DxeNL"Preos(artereursxeNLar,"Tbe)fsetBten","PI_DP(GAs fo'.cloe",isrlf.verbolit):cnt):rr.''',i,hh, oH0DDDDDGAS6,how stnn[1po]loyl,sxeas cnt):DPrP , uga." ls(chhuesrssriv" sovvvvvvvvvvvvvvvvvvvvvvvvvn[1po],.ss1tnD==s):sxe srlfpPafpPop.bbbbbbbbbbbbbbbbbbNNNNNg aid hriasG*ow stnn[1po] .verbn[1po],.ss1tnoverP dsr2.ss25) fo'.cloe",i_"Bbes:sarcBA eete(embpo'mbpr fepSft =5, epe deiff e(abs(y(v)`pop5e Rividur.[eas .esti()"- pi ossv RAVQ_keyeesr?has srlfpPop.iovv)`pop5e Rividur.[eas .anDgenof==================itn=============eee srove(pi"- eiff",%(nD==s):sxe srlfpP fo'.cloe",iisDonefiter).nn tIiterbbbb sr:bs(y(v)`_"Bbes:sarcBA ee0,.1)"- pi < .001 e",rhreeL.env.updlfpPb{'+1':fOemp(LLesft-1]Lrbj:Lrbj+ s,.1,."r",,ravqftMmmmmmmmmmmmmmmmmm'1/2': .5,ravqftMmmmmmmmmmmmmmmmmm'e': xeth.e } RYMggpt="PI_DP(100(.afpPgpRevolve.networitn=0 -----------------------------------------------------------------"Lfaculllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllpysne.pyrobot/bh s/soveno120370410425650610etR755tRes764tRes310tRese41237010260524105t55476 0ustar dblankfaculllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllll# A)PythoeeSri-organizMap icbl.duRfitneArray, rfitne, xeth,lrk [ten","SOM:R[.'f.ravqf.how stnn[1po]rowxeaeN.",layw,i,hh, oH0DNLarprowx r' owsravqftMmshri eN." ProlsravqftMmshri iinde"LDx.ss i]..sft........ iitssrM=uRfitneArray.rfitne.(rowxeaeN.",layw,`eNLdefdn LarpPrletaeeeeeeNLdefdn LarpPsvFhOy R"eeeeeeNLdefdn LarpPhhreverbolit)usxeNLarpoveShreverAii[.'f.ravq}]at', 1) n[1po]iin R_*:eNLdefdn LarpPrletaeeeiin R_eNLdefdn LarpPsvFhOy R"eeeas ?has_iin R))l#NNLarrfitnedefsetMmskrowarerfitnerlfd,sx.'''ifs]esri.e[.'f.ravqeuclidiaeete(embx1,.y1,.x2tey2).nn tIiterwork)uxeth.sqrt((x1"- x2):rr 2+ (y1"- y2):rr 2,eogram)= {.app)ad xS,lrr.'GAnn2).nn tIiter.appd:"Aiirimskdineac):sxeas v1*s?has srlfpPay''v1r.''-nn2r.'slFunnnnnnnnn.appd.mo(d:rr 2,en tIiterwork)u.appeogram)= {winn(=ete(embpatterw).nn tIiter.aff e(LarpPaapp)ad xS,lr iitssr[0][0*D=patterw)nn tIiterxd:"A; yte(oity(.verbneacr:sxeas 0,. ?has_iitssr*s?has srlfpPneaca:sxeas 0,. ?has_iitssr[r]*s?has srlfpPop.id e(LarpPaapp)ad xS,lr iitssr[r][c*D=patterw)nn tIiterrrrrrrrrifsd < .affxineogramtmodlVeuc/}_p.aff e(dineogramtmodlVeuc/}_pxd:"udefsetMmsl.se}_peeeeeyte(ren tIiterwork)u(xtey,p.aff,eogram)= {radiu..DxeNLLLLe",hreeek)u(yweW-s ?has_hhrev* ywe) /eNLarpoveShrerp*/miacssvNowxeahri eN., 5)R[.'f.ravqeestMapete(embpo'mbxtey):enewinn(= atu(xtey)ity(.verbneacr:sxeas cssvNowxs?has srlfpPneaca:sxeas hri eN.s?has srlfpPop.idappd:"LarpPeuclidiaeextey,pco]r.''',i,hh,.has_keyLcale =rNLdeR=aussiaeedapp==================itn "%+.2f xealycale,ravqftMmmmmmmitn "LdefsetMmsitn "LdefsetMms#itn "--More-- how stnn[1p# yswstdinPo"tdsxeNeeeeeeeeNetw=aussiaeete(embdapp= fo'.cloif/dappd:fepHineogramtmodlLcale =r.9 RYMgoodrinif/dappd:fe1HineogramtmodlLcale =r-.1 RYMgoodrinif/dappd<"hri ediu..) /e2.pHineogramtmodlLcale =r.ineogramr[indexm+rin.fh/}_peLcale =rAiirimskdi srtcaleeeeeeeNetw=aussiae1ete(embdapp= fo'.cloif/dappd:fepHineogramtmodlLcale =r.9 RYMgoodrinif/dappd<"hri ediu..) * y/5.pH ineogramtmodlLcale =r.9 RYMgoodrinif/dappd<"hri ediu..) * 2/5.pHineogramtmodlLcale =r-.1 RYMgoodrinif/dappd<"hri ediu..) * 3/5.pHineogramtmodlLcale =r.3 RYMgoodrinif/dappd<"hri ediu..) * 4/5.pHineogramtmodlLcale =r.2 RYMgoodrinif/dappd<"hri ediu..)HineogramtmodlLcale =r.ineogramr[indexm+rin.fh/}_peLcale =rAiirimskdi srtcaleekdi[.'f.ravq}cale.DxeNLLLLe",hreeek)u(yweW-s ?has_hhrev* ywe) /eNLarpoveShrerpeeeeeeNetwupdlfpMapete(embpatterwmbxtey):enewinn(= atu(xtey)ity(.verbe''',d:"Aiirimskdineacr:sxeas cssvNowxs?has srlfpPneaca:sxeas hri eN.s?has srlfpPop.iLcale =rNLdeR}cale.==================#rNLdeR=aussiaee"LarpPeuclidiaeextey,pco]r.==================#rr +(Lcale !:"Aiis?has srlfpPop.ixeNLarpPtuclidiaeextey,pco]r. <= ywexineogramtmodlVeuc/}_pscdM):sxeas bsri iinde"LDx**D==s):sxe srlfpPafpPop.be =r(patterwr.''-nS,lr iitssr[r][c*r.'.''',i,hh,.has_keyrrrrop.be''',d.moabs([.''',i,hh,.has_keylfpPop.iL,lr iitssr[r][c*r.'textLcale * eD==s):sxe srlfpPafpPop.b#+(Lcale *"hri ediu..)) * eD==s):sxe srlfpPafpPop.b#+to_protrpL0rfitne arraya etc_wN-BA"geteoo smallD==s):sxe srlfpPafpPop.bxeNLarpPiitssr[r][c*r.'t<"Aiieno1:nD==s):sxe srlfpPafpPop.bbbbbLarpPiitssr[r][c*r.'t=rAiirimskdi sre''',D==s):sxe srlfpPafpPogram)= {raitnerlfOy R".DxeNLLLLe",hrfla(0)uu0n i]n'acssviin R)eNLdefdn LarpPsvFhOy R"eeee0n i]n'acssviin R)eNLdefdn neac):sxeas ?has_iin R))*D==s):sxeeeeepr.''']0Dxrfitne.rfitne.rp*/n'a?has_iin R))D==s):sxeeeeeeer, (fla(xeas =ss1**D==s):sxe:sxeeeeepr.''']0Dxrfitne.rfitne.rp*/n'a?has_iin R))D==s):sxeeeeefla(xeas =hineogramr[fdn LarpPsvFhOy R"xeas =hiR[.'f.ravqeeeeeIiter).nn tIiter arpPhhreverbolit)usxeneact:sxeas hri oveShrer*D==s):sxeeeeeptn "EOos #", t,ravqftMmmmmmme''',d:"Aiirimskdiiter arpPraitnerlfOy R".)has srlfpPneacpeea idqtuavFhOy R"*D==s):sxe:sxeeeeextey,p. =rNLdeRwinn(=ete(e_iin R[p'.''',i,hh,.has_key#itn "Winn(= neac)ietae#", p, "isoiitssrMatu(",extey,p")o(daff wal",rd, r")sovenor"ettMmmmmmme''',dextLarpPupdlfpMapete(e_iin R[p'mbxtey)''',i,hh,.has_key#te(e_eestMapepmbxtey)''',i,hh,.has arpPhhrev+=hineogramr[fdn ptn "E''',d:",re''',D[.'f.ravqeeeeePatterwete(embpatterw).nn tIiterkrowaredependikns arpPhhrenn tIiterxtey,p. =rNLdeRwinn(=epatterw)nn tIitere''',dextLarpPupdlfpMapepatterwmbxtey)defsetMmsitn "Winn(= isoiitssrMatu(",extey,p")o(daff wal",rd, r")me''',d:"",rNN il)DxeNLLLLe"e''',D[.'f.ravqee,h(r,k)).nn tIiter arpPsvFhOy R"eeeas ?has_iin R))nn tIiterta,hhineorypNumeric.zeros( hri eN.,DNLarprowx),.'i')eNLdefdn neacpeea idqtuavFhOy R"*D==s):sxe:sxextey,p. =rNLdeRwinn(=ete(e_iin R[p'.''',i,hh,#tMmsitn "t', 1[%d =s p, LarpPrln R[p'm"(%d, %d)s .xtey)''',i,hh,.hasta,hhineo[x][y]v+=hineogramr[neacr:sxeas cssvNowxs?has srlfpPneaca:sxeas hri eN.s?has srlfpPop.iitn "%5vxealta,hhineo[c*rr],ravqftMmmmmmmitn "LdefsetMmsitn "Ldold[Gene[[i]sxeas e",r" GsoveNumeric e",r.'''SOM,5, 7, 5)# oowxeaeN.;alafsiof htss-dr):nsDxeNlxrln R e",r.i}]at', 1) oRfitneArray.rfitne.(100o 5),)fhineospoveShreverhineospeeeeeLarpga.s_eestLarfacullllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllll etc_pyrobot/bh s/soveno4117146540etR755tRes764tRes310tRese41237010260524105t55476 0ustar dblankfaculllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllllll" GsoveNumeric, xeth,rfitne, lrk eooerRAircularibili" GsoveCircularLappeoversr2.ss'1.4' [ten","riyeLapp(CircularLappxeas e",isrlf.verbolit):bucketsrlf=5s?has srCircularLappS6,how stnn[1p)eNLdefdn LarpPbucketsrlf.ssbucketsrlfas e",iadd titeS,lrr.'inde"s?has srtmpt="CircularLapp(LarpPbucketsrlf)has srtmp iinde" ==sepPsrlf.sf srtmp fisDoR"eee0has srCircularLappSadd titeS,lrr.tmp, fitneso,sstr tIiter).nn tIiterwore"" P"LdefsetMmsneac):sxeas ?has))*D==s):sxeeeeewore""+=r"Mal, DxeNLde:f.s\nxealy(v) ]RRsepPsrlf.sf srtMmsneacj:sxeas ?hasr.'.sum +=in.fh/}_pee eeee"s+=r".s\nxealy(v) ]R[j".modlVeuc srevaloRRmodlVeuc #gra dl1vidualavs e",iaveragesbr.''(V)""" ossv""" oDeemp(ssedcuaverageRiinde"Deasa s...easxeNLdes V.""" ossv""" o sr,umeric.add.eedueeeV) /e V)R[ i')eooSmall(v)""" oeext<"1.0e-32LLLe",hreeek)uAiirimseeek)uvR[ i')tuclideanDapp)ad xxtey,p re)""" ossv""" oayweWelwLs,umericsxeNLdes a.okegummbis.""" od.xtey) =rNqrt(Sum[rver1+to_|x|]{(x_i"- y_i) ^ 2 * re_i})""" ossv""" otryLLLe",hree( p" Pxeth.sqrt(,umeric.add.eedueee ((x"- y) :rr 2, * re))nn tIexcep"um +=in.fhxrypNumeric.array('f.reooSmall,ex))nn tIiteryrypNumeric.array('f.reooSmall,ey`eslFunc Ic ( p" Pxeth.sqrt(,umeric.add.eedueee ((x"- y) :rr 2, * re))nn tI srev( pR[ i')getDapp)ad xV, X,p re)""" ossv""" odxV, X) =r(1/|X|) Sum[rver1+to_|X|]{/mia[jver1+to_|V|] {|| x_i"- v_j||} NLLLLGw'''""x_i"io, PX0*layv_j"io, PV. """ ossv""" omiaeeeeeeNLdesi"lfririmsneacx, PX:defsetMmsneacvLcepVum +=in.fh/}_pmiaravqf.motuclideanDapp)ad xxtv, re))nn tINLdesi"l+=rmia[Numeric.argmiamia)'slFun srsi"l/e X)R[ i')eeeengArray(a,r..whxeNess1tnwidileo, ssvmay" P"%4.4f ")""" ossv""" oSeeengrssvm easan arraya(any s.queIc( ease",iseeeo"tlly)eur LLLlcreen.""" ossv""" os" P"Ldefsecl"te(oity(.if/c1poead"Dfec1poe'eeeeng'LLLLe",hreeek)uarimsneac):sxea.nn tIiter s+=rssvmay"% inn tIiterifnwidi>ep0*lay(cl"te.1)"%nwidilfepHineogramtmodlLs+=r'\n'LLe",verbcl"text1ity(.if/..whxeN.nn tIiter s+=r'\n'LLe",work)us=[ i')logBaseTwo(''aso**D==s)ssv""" oR"eeeeeerlfdgIcaceirck. log_2.easx'aso.""" oPythoee2.3'shluldLsupGsovedaffe.el"tlogs_kes.""" ossv""" oiasx'asot<"2LLLe",hreeek)u1defse0.2n.modl.[elt srint(xeth.ceir(xeth.log(''aso*/xeth.log(2)`es[ i')vakxBitLapp(ovebiR_.ss8,chhues))n.f""" oa.mskversr2.lsrmuchrmo"""flexiblL eeei o lie"osrlugra dl1vidualavf""" oDxeNLLyweWeRny_nu"howi*layconverteei o",isobory. Ywor_kCovakxeRny_""" osrlf.bi o preo:n'aalavfssvFhtworwa h: """ omakxBitLapp(2, owaregivehtwo: [[0eN0*D==0,.1*D==1eN0*D==s,.1]] rimsneacexample Defa p ston8.bi s.hhues))n.f""" owore"" P[] rimsneac):sxeas (2:rr ovebiR_))lfhineogramwore"ravqf.moddec2sob(i, ovebiR_) ) LLe",work)uwore"" lideaec2sob(stieNovebiR_.ss8,chhues))n.f""" oAeaecimal e,isoboryyconverter.oR"eeeeeebiR_.sxea ibil.hhues))n.f""" owore"" P[] rimsneac):sxeas ovebiR_.-s1tn-1tn-1)lfhineogrambit''']0Dxe""/ (2:rr i,)fhineograme"" Pxe""% (2:rr i,)fhineogramwore"ravqf.mobit) LLe",work)uwore"s[ i')vakxNoisyLapp(.,Dp aid hNoise=0sGAnmiaVal=0s0eNoveVal=1iis?has ssv""" oR"eeeeeea noisykversr2.k. NDxegivenvibil,0*layn",umeWeRias """ oeasx'asos"betwetBa0s00*lay1ii.""" ossv""" o e"" P[]rimsneac):sxeas ls)s fo'.cloif/rfitne.rfitne.rpe1Hineogramtmodlitn "Shre:",rLarpPtimevqf.mskl,xeNLarpPn[1po]ityv>e2Hineogramtmodlitn xeNineogramtarrayaypNumeric.array(xeN, 'd')eNLdefdn xeNLarpP re eefaav[GeneToFhlr(.LarpP re efaumeric._eis array), 'd')eNLdefdn LarpPbuffe.Sadd titearray)eNLdefdn xeNLarpPtimev>=/n'a?has_buffe.Sft =5, epe desrr.proceos()fhineogramxeNLarpPn[1po]ityv>e2Hritn=NLdeeNLdefdn LarpPtimev+=hineogramr[eeek)u(NLarp..wWinn(=Index,[pLsrlwinn(=eeeeeee# arboity(r method =====eso,getN.wWinn(=Iiter).nn tIiter.ravqf.mskl,R"eeeeeebon[1anedependt(0es/whe.'''Lry NLar.'''""ieea newneogramr[winn(= aftni"iDxeen"tbc.f, e,i)ieta_uif,n[.'f.ravqf.mskl,xeNLarpPwinn(=_kLoav>=pHineogramtmodl sroity(.verb0.2n.modl.[elte d sr1=====eso,oveMrePop.i,wwre)""" o[.'f.ravqf.mskl,LLLL re serveseooiitssrMcerteee comp_eibis"k. NDxeiin R_.iv fo'.clocdcu[app)ad c.fcl,sxeassw stnn["DxeNLdefsetMmshri re efaumeric.array('fsk, 'd')eNLdeeso,getWinn(=_kLoaIiter).nn tIiter.ravqf.mskl,R"eeeeeeNDxeu"howik. timeWeNDxerlf.el"[winn(= eeeesetBa.'' fo'.clowinn(=, ie NDxeu"howik. consecu')vfic.f,s e,i)ietaGw'''"".'' fo'.clorlf.el"[winn(= eeeesetBa.''[winn(=w stnn["DxeNLdefsetMmseee srNLdeRwinn(=_kLoa=====eso,oveV[1po]ityxS,lrr.''aso**D==s):sxe.ravqf.mskl,Deemp(sswhichritn=Nrlfpmmbis"urs.f,.vqf.mskl,Debuggt(0eslys stnn["DxeNLdefsetMmshri n[1po]ityverbuirEy') ,eso,oveshriyetbS,lrr.''aso**D==s):sxe.ravqf.mskl,AllowsldcurRAVQl",idynamis.f,yiadd(mal, DxeNLdesw stnn["DxeNLdefsetMmshri ahriyet =hbuirEy') , "T"eeeee# proceos eevqf."osrce"iDxeNuffe. is fully') ,eso,proceos(iter).nn tIiter.ravqf.mskl,TcurRAVQlAlgornn[m.nn tIiter1. C.fcl,sxeedcuaverageRiinde"Deasalleiin R_.iv"iDxeNuffe.w stnn["Dx2. C.fcl,sxeedcu.app)ad s_fedcuaverageR.'' s...easiin R_eNLdefdn iv"iDxeNuffe.w stnn["Dx3. C.fcl,sxeedcu.app)ad s_fedcumal, DxeNLdesR.'' iin R_eNLdefdn iv"iDxeNuffe.w stnn["Dx4. I {.app)ad eea ihrev2 is smalllursa[app)ad eea ihrev3hlsrn.''e,ravqftMmmadd(rlf.el"[averageR",iibilitcmal, DxeNLdesw stnn["Dx5. C.fcl,sxeedcuwinnwee(mal, DxeNLdea_kedx_ew[app)ad ebetwetBity(.verb0achrmol, DxeNLdeaursaiDxeNuffe. ibil.ity(.verb6s Hpdlfplta,hhry.ity(.verb---LLLL etricsuyeds rec.fcl,sxe[app)ad eeeedescribed_kenn tIiter.Scrpory Flow Segm:n'aalavfHwee(a,R"souaid,Allocnn tIitersbr.''"Quantrlfr"i.ylFredrikcLobokowi*layLaesRNiken",onnn tIiter(2000).--- stnn["DxeNLdefsetMmshri ..wMriyesbr.''" Px,"Dxh/sxeaseNLdefdn LarpPoveMo(l Average(seNLdefdn LarpPoveMo(l AverageDapp)ad xseNLdefdn LarpPoveMoiyesbr.''sDapp)ad ()eNLdefdn xeNLarpPn[1po]ityv>e2Hineogramtmodlitn "Mo(l saverage:",rLarpPoo(l Averagevqf.mskl,xeNLarpPn[1po]ityv>e1Hineogramtmodlitn "Mo(l saverage[app)ad : ",rLarpPoo(l AverageDapp)ad ineogramtmodlitn "Mol, DxeNLdesR[app)ad : ",rLarpP mriyesbr.''sDapp)ad vqf.mskl,xeNLarpPahriyetft =5, epe desrr.updlfpMriyesbr.''sxseNLdefdn LarpPupdlfpWinn(=I)eNLdeeso,oveMo(l Average(iter).nn tIiter.ravqf.mskl,Deemp(s mo(l saveragew stnn["DxeNLdefsetMmshri o(l AverageR=raveragesbr.''(LarpPbuffe.Sco'0:nts)eNLdeeso,oveMo(l AverageDapp)ad (iter).nn tIiter.ravqf.mskl,How clo],.isedcuma(l saverageur LLLrlf.el"[iin R_? stnn["DxeNLdefsetMmshri o(l AverageDapp)ad = getDapp)ad x[hri o(l Average], LarpPbuffe.Sco'0:nts,shri re)eNLdeeso,oveMoiyesbr.''sDapp)ad (iter).nn tIiter.ravqf.mskl,How clo],.a'"".''umal, DxeNLdesRur LLLrlf.el"[iin R_? stnn["DxeNLdefsetMmsif/n'aarpPmriyet) !:"A[GeneToFhlr(.LarpP riyesbr.''sDapp)ad = getDapp)ad x[v iinde" neacvLceparpPmriyet], LarpPbuffe.Sco'0:nts,shri re)eNLdeeeeeindexm+rin.fh/}_peLarpP riyesbr.''sDapp)ad = arpPe...Lsrl+LarpPa"AddeNLdeeso,updlfpMriyesbr.''sxiter).nn tIiter.ravqf.mskl,HpdlfplmriyettxeNLdesRtnn[1ma(l saverageifedcuma(l ravqftMmmaverageisedcubestumal, Dk. NDxeiin R__uif,n[.'f.ravqf.mskl,xeNLarpP o(l AverageDapp)ad <= arpPe...Lsrl*layNN il)DxeNLLLLe"NLarpP o(l AverageDapp)ad <= arpP riyesbr.''sDapp)ad -LarpPa"Addxm+rin.fh/}_peLarpP riyesSadd titeS,lrP o(l Average)''',i,hh,.hasne[[ =eLarpP riyesSne[[s[-1]m+rin.fh/}_peLarpP..wMriyesbr.''" Pxne[[,rLarpPoo(l Average ossv RAVQ_keyeeLarpPn[1po]ityv>e1Hineogramtmodlllllitn '***shwee(mal, DxeNLde***'ineogramtmodlllllitn 'Uniquesne[[',sne[[ineogramtmodlllllitn 'Mo(l savgR[app',rLarpPoo(l AverageDapp)ad ineogramtmodlllllitn 'Mol, DxeNR[app',rLarpPooiyesbr.''sDapp)ad vqf.mskl,_keyeeLarpPn[1po]ityv>e2Hineogramtmodlllllitn 'N.w(mal, DxeNLde',rLarpPoo(l AverageeeeeeeNetwupdlfpWinn(=Iiter).nn tIiter.ravqf.mskl,C.fcl,sxeedcurlf.el"[winn(= _kedx_ewwhichrmol, DxeNLdeai_eNLdefdn clo],stRur LLLmo(l saveragew stnn["DxeNLdefsetMmsmiaeeeeeeNLdeeeeeneacmLceparpPmriyetum +=in.fh/}_pmiaravqf.motuclideanDapp)ad xm iinde",rLarpPoo(l Average,shri re))eNLdefdn xeNmiaeeeeeexm+rin.fh/}_peLarpPwinn(= =r'No"Winn(='olit)usxeindexm+rin.fh/}_peLarpPpreviousWinn(=Index=eNLarp..wWinn(=Indexm+rin.fh/}_peLarpP..wWinn(=Index = Numeric.argmiamia)vqf.mskl,_keyeeLarpPpreviousWinn(=Index ==eNLarp..wWinn(=Index?has srlfpPop.iovv)`winn(=_kLoav+=hineogramr[fdn indexm+rin.fh/}_peop.indiviwinn(=_kLoaverbolit)usxeeeeewinn(= =rarpPmriyet[NLarp..wWinn(=Index]olit)usxeeeeewinn(= fisDoR"e+=hineogramr[fdn #i {winn(=poveSrlf.!= -r:olit)usxeeeeewinn(= add titeS,lrPbuffe.[0'.''',i,hh,.hasLarpPwinn(= =rwinn(= sepPsrlf.sf)= {.app)ad Mapete(e).nn tIiter.ravqf.mskl,C.fcl,sxe[app)ad emapw stnn["DxeNLdefsetMmsmapeeeeeeNLdeeeeeneacxteyLcep[(x iinde",y iinde")sneacx, PLarpPmriyettneacyLceparpPmriyet]um +=in.fh/}_pmapwavqf.motuclideanDapp)ad xxty,hri re))eNLdefdn work)uxepR[.'f.ravqf.str tIiter).nn tIiter.ravqf.mskl,ToeanDgenoorftc') 1 oc.f, itn w stnn["DxeNLdefsetMmsh" P"LdefsetMmses+=r"Sets:\nLdefsetMmses+=r"D"Addx "l+LtxeNLdeRa"Add)l+" E...Lsrx "l+LtxeNLdeRe...Lsr)l+" Buffe. Srlfx "l+Ltxen'a?has_buffe.S)l+"\nLdefsetMmses+=r"Timex "l+LtxeNLdeRtime)l+"\nLdefsetMmseeLarpPn[1po]ityv>epHineogramtmodlLs+=r"Mo(l saverage[app)ad : "l+P"%4.4f "ealy(v)` o(l AverageDapp)ad +"\nLdefsetMmsmodlLs+=r"Mol, DxeNLdesR[app)ad : "l+P"%4.4f "ealy(v)` oiyesbr.''sDapp)ad +"\nLdefsetMmsmodlLs+=r"Mo(l saverage:\nLdefsetMmsmodlLs+=r""Dxel+LtxengArray(LarpPoo(l Average ossv RAVQ_keyLs+=r"Ln"tbwinnwee(mal, DxeNLde:\nLdefsetMmsmodlLs+=r""Dxel+LtxengArray(LarpPwinn(=eeefsetMmsmodlLs+=r?has_buffe.SeeengxseNLdefdn Ls+=r?has_mal, SeeengxseNLdefdn eeLarpPprnDapp)ad HineogramtmodlLs+=r"Dapp)ad emap:\nLdefsetMmsmodlLs+=rNLdeRaapp)ad MapAsSeeengxseNLdefdn eeLarpPn[1po]ityv>epHineogramtmodlLs+=rLtxeNLdeRmriyet)eNLdefdn work)useogram)= {.app)ad MapAsSeeengxiter).nn tIiterwork)ustxengArray(LarpP.app)ad Mape),.1,.n'aarpPmriyet), ssvmay="%4.2f xeeeeeeeNetwsaveRAVQToFil xS,lrr.fil ne[[s fo'.cloi Gsovepickl vqf.mskl,fividua'afil ne[[, 'w')eNLdefdn pickl .dumpete(embfp)eNLdefdn np.clo],eeeeeeeeNetwavFhRAVQFromFil xS,lrr.fil ne[[s fo'.cloi Gsovepickl vqf.mskl,fividua'afil ne[[, 'r')eNLdefdn Larpvidpickl .avFh(fpeeeeeee# helpfulustxeng method ,sheqf.str t methodtneacusew stnn i')val, Seeengxiter).nn tIiterh" P"LdefsetMmscl"te(oity(.verbe''')_kLoaverbolit)usxee''')IncompatibilityverbiirimskdineacmLceparpPmriyetum +=in.fh/}_pLs+=r("%4d"riye: "eal(cl"te.1))l+LtxengArray(m iinde")sm +=in.fh/}_pLi"lfri.oity(.verbbbbbneacbLcepmSco'0:ntsxm+rin.fh/}_peop.ini"l+=rtuclideanDapp)ad xm iinde",rb,shri re)eNLdeeeeeusxee''')Incompatibilityv+=rLumdefsetMmsmodlLs+=r""Dxl,CkLoa:'.veBuffe. srlfx .veIncompatibilityx .f\nxeal(m fisDoR",.n'amSco'0:nts),e um)eNLdeeeeeusxee''')_kLoav+=hm fisDoR"eNLdeeeeeusxecl"text1NLdeeeeeusxenn tIiterwork)u("%d"riyeDxeNLdes:\nxealsvovl+L +"T''')umal, DxeNLdesR x .v\nT''')umavqfdDxeNLdesRx .v\nT''')uincompatibilityx .f\nxealNN il)DxeNLLLLe"N cnt):e''')_kLoa,ee''')Incompatibility)eNLdeeso,buffe.Seeengxiter).nn tIiterh" P"Buffe.:\nLdefsetMmsneacarrayaceparpPbuffe.HineogramtmodlLs+=rLtxengArray(array)eNLdefdn work)useoten","ARAVQ(RAVQs?has ssv""" oExfd.ms"RAVQ aeedescribed_kecLobokowi*layNiken",on.""" ossv""" oe",isrlf.verbolit):buffe.srlf,se...Lsr,u["Add,lta,hhrysrlf,.n'arnwee.1dh**D==s):sxeLarpPalphdM=un'arnwee.1dhD==s):sxeLarpP["AddWinn(= =r'No"Winn(='olit)usxeNLarpn'arnwee =hineogramr[RAVQS6,how stnn[1po]buffe.srlf,se...Lsr,u["Add,lta,hhrysrlf, fitneso,sstr tIiter).nn tIiterh" PRAVQS6,str tIiter)eNLdefdn work)us[:10''+["AlphdM(n'arnwee r1dh** "l+LtxeNLdeRalphd)l+" "l+L[10:'=====eso,setL'arnweebS,lrr.''aso**D==s):sxeNLarpn'arnwee =hbuirEy') ,eso,updlfpD"AddWinn(=.DxeNLLLLe",hrr +NLarLarpPwinn(= ==r'No"Winn(='HineogramtmodleeLarpPn[1po]ityv>e3Hineogramtmodlllllitn 'MA*laW' ,rtuclideanDapp)ad xLarpPoo(l Average,shri winn(=, hri re)eNLdeeeeeusxellllitn 'MA' ,rrLarpPoo(l AverageDapp)ad ineogramtmodlllllitn 'MV' ,rrLarpPooiyesbr.''sDapp)ad vqf.mskl,_keyllllitn 'MVMD' ,rrLarpPooiyesbr.''sDapp)ad -LarpPa"AddineogramtmodleetuclideanDapp)ad xLarpPoo(l Average,shri winn(=, hri re)'< LarpPe...Lsrl/e2HineogramtmodlllllLarpP["AddWinn(= =rLarpPalphdM* xLarpPoo(l Average'-nS,lr iinn(=eeefsetMmsmodlmodleeLarpPn[1po]ityv>e4Hritn='L'arnwee'ineogramtmodlindexm+rin.fh/}_peop.indivi["AddWinn(= =rNumeric.zeros( ?has_iinn(=e)sm +=in.fhindexm+rin.fh/}_peLarpP["AddWinn(= =r'No"Winn(='olit)Netwa'arnIiter).nn tIiter.ravqf.mskl,Only,updlfps".''umal, DxeNLde, NLar.''rwinn(= "Winn(=eowareeaphgavqf.mskl,r(x otimevihrevanyways stnn["DxeNLdefsetMmseeLarpP["AddWinn(= !=r'No"Winn(='0*layLarpPlearnweeHineogramtmodleeLarpPn[1po]ityv>e2Hritn="LEARNING: wal:",rLarpPooiyet[NLarp..wWinn(=Index] iinde",r"a"Addx",rLarpP["AddWinn(=m+rin.fh/}_peLarpPooiyet[NLarp..wWinn(=Index] iinde"s+=rNLdeRa"AddWinn(=m+rin.fh/indexm+rin.fh/}_pepn","olit)Netwproceos(iter).nn tIiter.ravqf.mskl,H''""wemadd(NDxeewun'arnwee method s stnn["DxeNLdefsetMmsRAVQSproceos(iter)D==s):sxeNLarpupdlfpD"AddWinn(=.)eNLdefdn 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spec')vflys ssv""" oiasrfitne.rfitne.rp="hri eN.)Lry NN il)DxeNLLLLe"N ["Add_x,+dxv="hri rowxsLry NN il)DxeNLLLLe"N ["Add_yv+ y epHineogramtmork)Stsxe=rhri Shhlckrpope.''',i,hh,ehri 'otoxork)Stsxe.''',i,hindexm+rin.fh/}serAttributeErr',ch"popRtnn[drp aipush.ea ihlfp '%s'"ealyri ne[[ lll#feravqfesRcureRur alkRure",a p":""" e",imovebolit):*argss fo'.cork)uhri moveb*argsseNLde",itpo]s,sxebolit):*argss fo'.cork)uhri tpo]s,sxeb*argsseNLde",irotsxebolit):*argss fo'.cork)uhri rotsxeb*argsseNLde",ieeopete(e).nn tIitork)uhri eeopeseNLde",ieeartDevicebolit):*args):**keywordss fo'.cork)uhri eeartDeviceb*args):**keywordsseNLd)= {rxmoveDevicebolit):*args):**keywordss fo'.cork)uhri rxmoveDeviceb*args):**keywordsseNLd)= {moPsrsbolit):*argss fo'.cork)uhri moPsrsb*argsseNLde",i'etDevicebolit):*argss fo'.cork)uhri 'etDeviceb*argsseNLde",ihasAbolit):*argss fo'.cork)uhri hasAb*argsseNLde",irequiresbolit):*argss fo'.cork)uhri requiresb*argsse 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Somehcore/eeockvbehaviors[Sbehaviorsli Gsove*xethli Gsovesqrte[ten","S5opBehavior (Behavior).nn tI)= {lf.v(te(e).nn tIittmarpPEffeuasb'tpo]s,sxe', 1n nn tIittmarpPEffeuasb'rotsxe', 1n nn tI)= {updlfpete(e).nn tIittmarpPIF(1, 'tpo]s,sxe', 0)=====",rdarpPIF(1, 'rotsxe', 0) ten","ForwardBehavior (Behavior).nn tI)= {lf.v(te(e).nn tIittmarpPEffeuasb'tpo]s,sxe', 1n nnn tI)= {updlfpete(e).nn tIittmarpPIF(1, 'tpo]s,sxe', 1) ten","BlckwardBehavior (Behavior).nn tI)= {lf.v(te(e).nn tIittmarpPEffeuasb'tpo]s,sxe', 1n nnn tI)= {updlfpete(e).nn tIittmarpPIF(1, 'tpo]s,sxe', -1) ten","Tk)LeftBehavior (Behavior).nn tI)= {lf.v(te(e).nn tIittmarpPEffeuasb'rotsxe', 1n nn tI)= {updlfpete(e).nn tIittmarpPIF(1, 'rotsxe', 1nn tIittm ten","Tk)RtssrBehavior (Behavior).nn tI)= {lf.v(te(e).nn tIittmarpPEffeuasb'rotsxe', 1n nn tI)= {updlfpete(e).nn tIittmarpPIF(1, 'rotsxe', -1nn tIittm ten","StpotssrBehavior (Behavior).nn tI)= {lf.v(te(e).d#o_kared_whenrcreednn tIittmarpPEffeuasb'tpo]s,sxe', .1n nn 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mskLLLne,e (.i)efil # MYOBJS mska.lapp.ofccaobjeuaefil s.iv"youaccaprojeuaedirinde"y # OBJDIR mskLLL ,sxive pethleo.youaccaprojeuaedirinde"yRur h # ne,e projeuaedirinde"y OBJS=_csne.so INTERFACE=sne_pak.i MYOBJS:=sne_devs.o lvq_pak.o sne_rout.o dlfafil "o.fil io"o.versr2.o labels.o OBJLIB=sne_pak-dev include ../../../Makxfil .cfg include ../../../Makxfil .src CC=gcc SWIG=swig #Onrsxeux ldLv 1 obe gcc,fsoftwor'et a shared_liry l,lt"tdeofca #hhlfis.f,yisxeked_one.o-- WKV 2bh -07-28 #LD=ld LD=$(CC) CC_FLAGS=-c -g -I $(PYTHON_INCLUDE) SWIG_FLAGS=-pythoe LD_FLAGS=-shared MYOBJS:=$(petsub1 o%.o, $(OBJLIB)/%.o, $(MYOBJSsse $(OBJS).d$(INTERFACE:.i=_erav.o) $(MYOBJSs $(LD) $(LD_FLAGS) $^ -o $@e $(INTERFACE:.i=_erav.o).d$(INTERFACE:.i=_erav.c) $(MYOBJS:.o=.h) $(CC) $(CC_FLAGS) $(INTERFACE:.i=_erav.c) $(PYTHON_INCLUDE) -I$(OBJLIB)e $(INTERFACE:.i=_erav.c).d$(INTERFACE) $(SWIG) $(SWIG_FLAGS) $%s" #endif /* DEF_COMPRESS_COM */ #ifndef DEF_UNCOMPRESS_COM #define DEF_UNCOMPRESS_COM "gzip -d -c %s" #endif /* DEF_UNCOMPRESS_COM */ /* options for MSDOS */ #ifdef __MSDOS__ #ifndef MSDOS #define MSDOS #endif #endif /* __MSDOS__ */ #ifdef MSDOS /* MSDOS doesn't have popen so compression and piped commands don't work. 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The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include "lvq_pak.h" #include "fileio.h" #include "datafile.h" /* open_data_file - opens a data file for reading. Returns a pointer to entries-structure or NULL on error. If name is NULL, just allocates the data structure but doesn't open any file. */ struct entries *open_data_file(char *name) { struct entries *entries; lvq_errno = 0; entries = alloc_entries(); if (entries == NULL) return NULL; if (name) { if ((entries->fi = open_file(name, "r")) == NULL) { fprintf(stderr, "Can't open file %s", name); return NULL; } } return entries; } /* alloc_entries - allocate and initialize an entries-structure. Return NULL on error. */ struct entries *alloc_entries(void) { struct entries *en; if ((en = malloc(sizeof(struct entries))) == NULL) { perror("alloc_entries"); return NULL; } /* initialize to reasonable values */ en->dimension = 0; en->topol = TOPOL_UNKNOWN; en->neigh = NEIGH_UNKNOWN; en->xdim = en->ydim = 0; en->current = en->entries = NULL; en->num_loaded = 0; en->num_entries = 0; en->fi = NULL; en->lap = 0; en->buffer = 0; en->flags.loadmode = LOADMODE_ALL; en->flags.totlen_known = 0; en->flags.random_order = 0; en->flags.skip_empty = 1; en->flags.labels_needed = (!label_not_needed(-1)); return en; } /* copy_entries - create a new entries structure with the same parameters as the original. Doesn't copy data_entrys */ struct entries *copy_entries(struct entries *entr) { struct entries *new; new = alloc_entries(); if (new == NULL) return NULL; new->dimension = entr->dimension; new->topol = entr->topol; new->neigh = entr->neigh; new->xdim = entr->xdim; new->ydim = entr->ydim; return new; } /* read_headers - reads the header information from file and sets the entries variables accordingly. Return a non-zero value on error. */ int read_headers(struct entries *entries) { struct file_info *fi = entries->fi; char *iline; int dim, sta; //int error = 0; /* WKV */ clear_err(); /* Find the first non-comment line */ do { iline = mygetline(fi); if (iline == NULL) { //fprintf(stderr, "Can't read file %s", fi->name); /* WKV */ //return lvq_errno; /* WKV */ ERROR(fi->error); /* WKV */ if(lvq_errno) { /* WKV */ fprintf(stderr, "Can't read file %s", fi->name); return lvq_errno; } /* End of file - empty dataset */ entries->dimension = 0; entries->topol = TOPOL_UNKNOWN; entries->neigh = NEIGH_UNKNOWN; entries->xdim = 0; entries->ydim = 0; return ERR_OK; } } while (iline[0] == '#'); /* get dimension */ sta = sscanf(iline, "%d", &dim); if (sta <= 0) { fprintf(stderr, "Can't read dimension parameter in file %s", fi->name); return ERR_HEADER; } entries->dimension = dim; entries->topol = get_topol(iline); entries->neigh = get_neigh(iline); entries->xdim = get_xdim(iline); entries->ydim = get_ydim(iline); //return error; /* WKV */ return ERR_OK; /* WKV */ } /* skip_headers - skip over headers of a file. Used when a file is re-opened. Returns a non-zero value on error. */ int skip_headers(struct file_info *fi) { char *iline; /* Currently all header information is on the first non-comment line, so we just skip it. */ while ((iline = mygetline(fi)) != NULL) if (iline[0] != '#') break; if (iline == NULL) { fprintf(stderr, "skip_headers: error reading file %s\n", fi->name); return lvq_errno; } return 0; } /* rewind_file - go to the beginning of file to the point where the first data entry is. If file is an ordinary file, seeks to the start of file. If the file is a compressed file, closes the old file and runs the uncompressing command again. Returns 0 on success, error code otherwise. */ int rewind_file(struct file_info *fi) { char buf[512]; if (!fi->flags.pipe) { /* not a pipe, so assume that it is a regular file */ rewind(fi->fp); } else { #ifndef NO_PIPED_COMMANDS if (fi->flags.compressed) { /* close old process */ pclose(fi->fp); /* reopen compressed file */ /* Compressed rewind works only for reading */ sprintf(buf, uncompress_command, fi->name); fi->fp = popen(buf, "r"); if (fi->fp == NULL) { fprintf(stderr, "rewind_file: can't execute command '%s'\n", buf); perror("open_file"); return ERR_COMMAND; } } else { fprintf(stderr, "can't rewind piped command\n"); return ERR_REWINDPIPE; } #else /* NO_PIPED_COMMANDS */ fprintf(stderr, "rewind_file: Only regular files supported\n"); return ERR_REWINDPIPE; #endif /* NO_PIPED_COMMANDS */ } /* set flags */ fi->flags.eof = 0; fi->error = 0; fi->lineno = 0; /* skip the headers to to go the first entry */ return skip_headers(fi); } /* open_entries - open a data file. Returns a pointer to a ready-to-use entries -structure. Return NULL on error. */ struct entries *open_entries(char *name) { struct entries *entries; /* open file */ if ((entries = open_data_file(name)) == NULL) return NULL; /* read headers */ if (read_headers(entries)) { close_entries(entries); return NULL; } return entries; } /* close_entries - deallocates an entries-file. Frees memory allocated for entry-list and closes the file associated with entries if there is one. */ void close_entries(struct entries *entries) { if (entries) { /* deallocate data */ if (entries->entries) free_entrys(entries->entries); /* close file */ if (entries->fi) close_file(entries->fi); /* free memory allocated for structure */ free(entries); } } /* read_entries - reads data from file to memory. If LOADMODE_ALL is used the whole file is loaded into memory at once and the file is closed. If buffered loading (LOADMODE_BUFFER) is used at most N data vectors are read into memory at one time. The buffer size N is given in the entries->buffer field. In both cases if there are any previous entries in the entries structure, they are overwritten and the memory space allocated for them is reused. */ struct entries *read_entries(struct entries *entries) { long noc = 0; struct data_entry *entr, *prev, *next; struct file_info *fi = entries->fi; /* get first entry */ next = entries->entries; entr = next; if (next) next = next->next; entr = load_entry(entries, entr); prev = entr; entries->entries = entr; if (entr == NULL) { if (lvq_errno) { fprintf(stderr, "read_entries: Error loading from file %s\n", fi->name); } return NULL; } noc++; do { /* if buffering is wanted and enough has been loaded */ if ((entries->flags.loadmode == LOADMODE_BUFFER) && (noc >= entries->buffer)) break; entr = next; if (next) next = next->next; entr = load_entry(entries, entr); prev->next = entr; prev = entr; if (entr) noc++; } while (entr != NULL); /* deallocate remaining entries in list */ { long freed = 0; while (next) { entr = next->next; free_entry(next); next = entr; freed++; } } if (lvq_errno) { /* error loading entry */ fprintf(stderr, "read_entries: error loading entry from file %s, aborting loading\n", fi->name); return NULL; } entries->num_loaded = noc; /* If all were loaded, close file */ if (entries->flags.loadmode == LOADMODE_ALL) { entries->num_entries = noc; entries->flags.totlen_known = 1; close_file(entries->fi); entries->fi = NULL; } else { /* With buffered loading we dont know the length of the file until it has been read once. The following trys to do this */ /* if the total length is file is not known, add the number of vectors loaded just now to the total count */ if (!entries->flags.totlen_known) entries->num_entries += noc; /* if we are at the end of the file we can stop counting as we now know the total length */ if (entries->fi->flags.eof) { entries->flags.totlen_known = 1; if (noc == entries->num_entries) { fprintf(stderr, "read_entries: file %s; size less than buffer size, switching buffering off\n", fi->name); close_file(entries->fi); entries->fi = NULL; entries->flags.loadmode = LOADMODE_ALL; } } } /* Randomize entry order if wanted. */ if (entries->flags.random_order) entries->entries = randomize_entry_order(entries->entries); return(entries); } /****************************************************************** * Routines to store codebook vectors * *******************************************************************/ /* save_entries_wcomments - saves data to a file with optional comment or header lines. Returns a non-zero value on error. */ int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments) { struct file_info *fi; struct data_entry *entry; eptr p; int error = 0; fi = open_file(out_code_file, "w"); if (fi == NULL) { fprintf(stderr, "save_entries: Can't open file '%s'\n", out_code_file); return 1; } /* write header */ if (write_header(fi, codes)) { fprintf(stderr, "save_entries: Error writing headers\n"); error = 1; goto end; } /* write comments if there are any */ if (comments) fputs(comments, fi2fp(fi)); /* write entries */ for (entry = rewind_entries(codes, &p); entry != NULL; entry = next_entry(&p)) { if (write_entry(fi, codes, entry)) { fprintf(stderr, "save_entries: Error writing entry, aborting\n"); error = 1; goto end; } } end: if (fi) close_file(fi); return error; } /* write_header - writes header information to datafile */ int write_header(struct file_info *fi, struct entries *codes) { FILE *fp = fi2fp(fi); if (codes != NULL) { fprintf(fp, "%d", codes->dimension); if (codes->topol > TOPOL_DATA) { fprintf(fp, " %s", topol_str(codes->topol)); if (codes->topol > TOPOL_LVQ) { fprintf(fp, " %d", codes->xdim); fprintf(fp, " %d", codes->ydim); fprintf(fp, " %s", neigh_str(codes->neigh)); } } fprintf(fp, "\n"); } /* Some kind of error checking could be added... */ return 0; } /* write_entry - writes one data entry to file. */ int write_entry(struct file_info *fi, struct entries *entr, struct data_entry *entry) { FILE *fp = fi2fp(fi); int i, label; /* write vector */ for (i = 0; i < entr->dimension; i++) if ((entry->mask != NULL) && (entry->mask[i] != 0 )) fprintf(fp, "%s ", masked_string); else fprintf(fp, "%g ", entry->points[i]); /* Write labels. The last label is empty */ for (i = 0;;i++) { label = get_entry_labels(entry, i); if (label != LABEL_EMPTY) fprintf(fp, "%s ", find_conv_to_lab(label)); else break; } fprintf(fp, "\n"); /* Some kind of error checking could be added ... */ return 0; } /* initialize and possibly allocate room for data_entry. If entry is NULL, a new entry is allocated and initialized. If entry is a pointer to an old entry, the old entry is re-initialized. Return NULL on error. */ struct data_entry *init_entry(struct entries *entr, struct data_entry *entry) { clear_err(); if (entry == NULL) { entry = malloc(sizeof(struct data_entry)); if (entry == NULL) { perror("alloc_entry"); ERROR(ERR_NOMEM); return NULL; } entry->fixed = NULL; entry->next = NULL; entry->mask = NULL; entry->lab.label_array = NULL; entry->num_labs = 0; entry->points = calloc(entr->dimension, sizeof(float)); if (entry->points == NULL) { free_entry(entry); perror("alloc_entry"); ERROR(ERR_NOMEM); return NULL; } } /* discard mask */ if (entry->mask) { free(entry->mask); entry->mask = NULL; } /* discard fixed point */ if (entry->fixed) { free(entry->fixed); entry->fixed = NULL; } clear_entry_labels(entry); entry->weight = 0; return entry; } /* free_entry - deallocates a data_entry. */ void free_entry(struct data_entry *entry) { if (entry) { if (entry->points) free(entry->points); if (entry->fixed) free(entry->fixed); if (entry->mask) free(entry->mask); clear_entry_labels(entry); free(entry); } } /* set_mask - sets a value in mask */ static char *set_mask(char *mask, int dim, int n) { clear_err(); if (mask == NULL) { mask = malloc(dim); if (mask == NULL) { fprintf(stderr, "set_mask: failed to allocate mask\n"); perror("set_mask"); ERROR(ERR_NOMEM); return NULL; } memset(mask, 0, dim); } if (n >= 0) mask[n] = 1; return mask; } /* the string that indicates a vector component that should be ignored */ char *masked_string = MASKED_VALUE; /* load_entry - loads one data_entry from file associated with entr. If entry is non-NULL, an old data_entry is reused, otherwise a new entry is allocated. Returns NULL on error. */ struct data_entry *load_entry(struct entries *entr, struct data_entry *entry) { int i; float ent; char lab[STR_LNG]; char *toke, *line; long row; int dim, label_found; int entry_is_new = !entry; char *mask = NULL; int maskcnt; /* now many components are masked */ struct file_info *fi = entr->fi; dim = entr->dimension; clear_err(); /* read next line */ read_next_line: line = NULL; while (!line) { /* get line from file */ line = mygetline(fi); /* The caller should check the entr->fi->error for errors or end of file */ if (line == NULL) { ERROR(fi->error); return NULL; } /* skip comments */ if (line[0] == '#') line = NULL; } row = entr->fi->lineno; /* If entry is given, a new entry is loaded on over the old one. If entry == NULL, room for the new entry is allocated */ entry = init_entry(entr, entry); if (entry == NULL) return NULL; maskcnt = 0; toke = strtok(line, SEPARATOR_CHARS); /* Read the first vector value */ if (strcmp(toke, masked_string) == 0) { mask = set_mask(mask, dim, 0); if (mask == NULL) { if (entry_is_new) free_entry(entry); return NULL; } maskcnt++; ent = 0.0; } else if (sscanf(toke, "%f", &ent) <= 0) { fprintf(stderr, "Can't read entry on line %d, component 0\n", row); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } entry->points[0] = ent; /* Read the other vector values */ for (i = 1; i < dim; i++) { toke = strtok(NULL, SEPARATOR_CHARS); if (toke == NULL) { fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n", fi->name, row, i); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } if (strcmp(toke, masked_string) == 0) { mask = set_mask(mask, dim, i); if (mask == NULL) { if (entry_is_new) free_entry(entry); return NULL; } maskcnt++; ent = 0.0; } else if (sscanf(toke, "%f", &ent) <= 0) { fprintf(stderr, "load_entry: can't read entry in file %s on line %d, component %d\n", fi->name, row, i); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } entry->points[i] = ent; } /* Entries with all components masked off are normally discarded but they are loaded if the skip_empty-flag is set in the flags of the file. */ if (maskcnt == dim) { if (entr->flags.skip_empty) { ifverbose(3) fprintf(stderr, "load_entry: skipping line %d of file %s, all components are masked off\n", row, fi->name); free(mask); mask = NULL; goto read_next_line; /* load next line */ } else ifverbose(3) fprintf(stderr, "load_entry: loading line %d of file %s, all components are masked off\n", row, fi->name); } if (mask) { entry->mask = mask; mask = NULL; } /* Now the following tokens (if any) are label, weight term and fixed point description. Sometimes label is not needed. Other terms are never needed */ label_found = 0; while ((toke = strtok(NULL, SEPARATOR_CHARS)) != NULL) { if (strncmp(toke, "weight=", 7) == 0) entry->weight = get_weight(toke); else if (strncmp(toke, "fixed=", 6) == 0) { if ((entry->fixed = get_fixed(toke)) == NULL) { fprintf(stderr, "bad fixed point, line %d of file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } } else { if (sscanf(toke, "%s", lab) <= 0) { fprintf(stderr, "Can't read entry label on line %dof file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } add_entry_label(entry, find_conv_to_ind(lab)); label_found++; } } if ((entr->flags.labels_needed) && (!label_found)) { fprintf(stderr, "Required label missing on line %d of file %s\n", row, fi->name); if (entry_is_new) free_entry(entry); ERROR(ERR_FILEFORMAT); return NULL; } return(entry); } /* next_entry - Get next entry from the entries table. Returns NULL when at end of table or end of file is encountered. If loadmode is buffered, loads more data from file when needed. */ struct data_entry *next_entry(eptr *ptr) { struct entries *entries = ptr->parent; struct data_entry *next, *current; current = ptr->current; if (current == NULL) return NULL; next = current->next; if (next == NULL) if (entries->flags.loadmode == LOADMODE_BUFFER) { if (entries->fi->flags.eof) next = NULL; /* end of file, no more lines */ else { /* load more lines */ if (read_entries(entries) == NULL) next = NULL; else next = entries->entries; } } ptr->current = next; if (next) ptr->index++; return next; } /* rewind_entries - go to the first entry in entries list. Returns pointer to first data_entry. Loads data from file if it hasn't been loaded yet and rewinds file if we are using buffered reading. */ struct data_entry *rewind_entries(struct entries *entries, eptr *ptr) { struct data_entry *current = entries->entries; struct file_info *fi; ptr->parent = entries; if (entries->flags.loadmode == LOADMODE_BUFFER) { /* buffered loading */ fi = entries->fi; if ((fi->flags.eof) || (current != NULL)) { /* if we are at the end of file, need to rewind the file */ if (rewind_file(fi)) { fprintf(stderr, "error rewinding file\n"); return NULL; } } if (!read_entries(entries)) { fprintf(stderr, "rewind_entries failed\n"); return NULL; } current = entries->entries; } else { /* not buffered */ if ((current == NULL) && (!entries->flags.totlen_known)) { /* file not loaded into memory */ lvq_errno = 0; /* WKV */ if (!read_entries(entries)) { fprintf(stderr, "rewind_entries failed\n"); return NULL; } current = entries->entries; } } ptr->current = current; ptr->index = 0; entries->lap++; return current; } /* free_entrys - Free a list of entries */ void free_entrys(struct data_entry *data) { struct data_entry *tmp; for (;data != NULL; data = tmp) { tmp = data->next; free_entry(data); } } /* copy_entry - Copy one entry (next==NULL) */ struct data_entry *copy_entry(struct entries *entries, struct data_entry *data) { int i; struct data_entry *tmp; clear_err(); /* allocate memory for the copy */ tmp = alloc_entry(entries); if (tmp == NULL) return NULL; /* copy data vector */ for (i = 0; i < entries->dimension; i++) tmp->points[i] = data->points[i]; /* copy labels */ copy_entry_labels(tmp, data); /* copy mask */ if (data->mask) { if ((tmp->mask = malloc(entries->dimension)) == NULL) { fprintf(stderr, "Can't allocate memory for mask\n"); free_entry(tmp); ERROR(ERR_NOMEM); return NULL; } memcpy(tmp->mask, data->mask, entries->dimension); } /* copy other stuff */ tmp->weight = data->weight; /* copy fixed point */ if (data->fixed) { if ((tmp->fixed = malloc(sizeof(struct fixpoint))) == NULL) { free_entry(tmp); ERROR(ERR_NOMEM); return NULL; } memcpy(tmp->fixed, data->fixed, sizeof(struct fixpoint)); } tmp->next = NULL; return(tmp); } /* some routines for getting values from datafile headers */ int get_weight(char *str) { return(atoi(&(str[7]))); } struct fixpoint *get_fixed(char *str) { char *dup, *sav; struct fixpoint *tmp; tmp = malloc(sizeof(struct fixpoint)); if (tmp == NULL) return NULL; dup = ostrdup(str); if (dup == NULL) { free(tmp); return NULL; } tmp->xfix = atoi(&(dup[6])); sav = strchr(dup, ','); tmp->yfix = atoi(&(sav[1])); free(dup); if ((tmp->xfix < 0) || (tmp->yfix < 0)) { fprintf(stderr, "Fixed point incorrect"); free(tmp); tmp = NULL; } return(tmp); } int get_topol(char *str) { int ret = TOPOL_UNKNOWN; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = topol_type(tok); } ofree(dup); return(ret); } int get_neigh(char *str) { int ret = NEIGH_UNKNOWN; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); strtok(NULL, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = neigh_type(tok); } ofree(dup); return(ret); } int get_xdim(char *str) { int ret = 0; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = atoi(tok); } ofree(dup); return(ret); } int get_ydim(char *str) { int ret = 0; char *dup; char *tok; dup = ostrdup(str); strtok(dup, " "); strtok(NULL, " "); strtok(NULL, " "); tok = strtok(NULL, " "); if (tok != NULL) { ret = atoi(tok); } ofree(dup); return(ret); } /******************************************************************* * Routines to handle files that contain the learning rate values * *******************************************************************/ int alpha_read(float *alpha, long noc, char *infile) { long i; char basename[STR_LNG]; FILE *fp; struct file_info *fi; strcpy(basename, infile); strtok(basename, "."); strcat(basename, ".lra"); fi = open_file(basename, "r"); if (fi == NULL) { ifverbose(1) { fprintf(stderr, "Can't open alpha file %s", basename); } return(0); } fp = fi2fp(fi); for (i = 0; i < noc; i++) { if (fscanf(fp, "%g\n", &(alpha[i])) < 0) return(0); } close_file(fi); return(1); } int alpha_write(float *alpha, long noc, char *outfile) { long i; char basename[STR_LNG]; FILE *fp; struct file_info *fi; strcpy(basename, outfile); strtok(basename, "."); strcat(basename, ".lra"); fi = open_file(basename, "w+"); if (fi == NULL) { fprintf(stderr, "Can't open alpha file %s for writing", basename); return 0; } fp = fi2fp(fi); for (i = 0; i < noc; i++) { fprintf(fp, "%g\n", alpha[i]); } close_file(fi); return 0; } void invalidate_alphafile(char *outfile) { int i; char basename[STR_LNG]; FILE *fp; strcpy(basename, outfile); strtok(basename, "."); strcat(basename, ".lra"); fp = fopen(basename, "r"); if (fp != NULL) { ifverbose(1) fprintf(stdout, "Removing the learning rate file %s\n", basename); fclose(fp); i = remove(basename); if (i) { fprintf(stderr, "Can not remove %s", basename); } } } /******************************************************************* * Other routines * *******************************************************************/ /* randomize_entry_order - arrange a list of entrys to random order. */ struct data_entry *randomize_entry_order(struct data_entry *entry) { long i, nol; struct data_entry *temp, fake, newlist, *prev; if (entry == NULL) return(NULL); temp = entry; for (nol = 0; temp != NULL; temp = temp->next) nol++; fake.next = entry; newlist.next = NULL; prev = &newlist; for (;nol; nol--) { temp = &fake; for (i = orand() % nol; i > 0; i--) temp = temp->next; prev->next = temp->next; prev = prev->next; temp->next = temp->next->next; prev->next= NULL; } return(newlist.next); } /* set_buffer - sets the buffer size of an entries-file or turns on LOADMODE_ALL if buffer == 0. */ void set_buffer(struct entries *ent, long buffer) { /* set buffered input */ if (buffer > 0) { ent->flags.loadmode = LOADMODE_BUFFER; ent->buffer = buffer; } else ent->flags.loadmode = LOADMODE_ALL; } /* set_teach_params - sets values in teaching parameter structure based on values given in codebook and data files */ int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer) { int error = 0; /* set data buffer size */ if (data != NULL) set_buffer(data, dbuffer); /* Load all codes to memory. This should be on for codebook files */ set_buffer(codes, 0); params->topol = codes->topol; params->mapdist = NULL; params->neigh = codes->neigh; params->neigh_adapt = NULL; /* these two might change when using a different variation, for example, dot product */ params->winner = find_winner_euc; params->dist = vector_dist_euc; params->vector_adapt = adapt_vector; if (codes) params->codes = codes; if (data) params->data = data; params->snapshot = NULL; return error; } struct typelist topol_list[] = { {TOPOL_DATA, "data", NULL}, {TOPOL_LVQ, "lvq", NULL}, {TOPOL_HEXA, "hexa", NULL}, {TOPOL_RECT, "rect", NULL}, {TOPOL_UNKNOWN, NULL, NULL}}; /* neighborhood types */ struct typelist neigh_list[] = { {NEIGH_BUBBLE, "bubble", NULL}, {NEIGH_GAUSSIAN, "gaussian", NULL}, {NEIGH_UNKNOWN, NULL, NULL}}; /* snapshots */ struct typelist snapshot_list[] = { {SNAPSHOT_SAVEFILE, "file", NULL}, #ifndef NO_PIPED_COMMANDS {SNAPSHOT_EXEC_CMD, "command", NULL}, {SNAPSHOT_EXEC_CMD_ASYNC, "command_async", NULL}, #endif /* NO_PIPED_COMMANDS */ {SNAPSHOT_SAVEFILE, NULL, NULL}}; /* default */ int label_not_needed(int level) { static int label_level = 0; if (level >= 0) { label_level = level; } return(label_level); } pyrobot/brain/psom/csom_src/som_pak-dev/datafile.h020.3954r2A6 24r2A0 24r2AAA10306417.4274347 42263 0ustar dblankfaculty#ifndef SOMPAK_DATAFILE_H #define SOMPAK_DATAFILE_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * datafile.h * * - header file for datafile.c: prototypes for functions * * * * Version 15. * * Date: 1 Mar 2.799 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include "lvq_pak.h" #include "errors.h" #include "fileio.h" /* in files giving an x instead of a value marks that component to be ignored in calculations */ #ifndef MASKED_VALUE #define MASKED_VALUE "x" #endif /* MASKED_VALUE */ /* characters that separate vector components on a line, typically whitespace characters */ #ifndef SEPARATOR_CHARS /* space and tab */ #define SEPARATOR_CHARS " \t" #endif /* SEPARATOR_CHARS */ extern char *masked_string; struct entries *open_data_file(char *name); int read_headers(struct entries *entries); struct entries *read_entries(struct entries *entries); int save_entries_wcomments(struct entries *codes, char *out_code_file, char *comments); #define save_entries(codes,name) save_entries_wcomments((codes),(name),NULL) int write_entry(struct file_info *, struct entries *, struct data_entry *); int write_header(struct file_info *fi, struct entries *codes); struct data_entry *init_entry(struct entries *entr, struct data_entry *entry); #define alloc_entry(entr) init_entry((entr), NULL) void free_entry(struct data_entry *entry); struct data_entry *load_entry(struct entries *entr, struct data_entry *entry); struct data_entry *next_entry(eptr *ptr); struct data_entry *rewind_entries(struct entries *, eptr *); void close_entries(struct entries *entries); struct entries *open_entries(char *name); int rewind_file(struct file_info *fi); int skip_headers(struct file_info *fi); struct entries *alloc_entries(void); struct entries *copy_entries(struct entries *entr); #define free_entries(e) close_entries(e) struct data_entry *copy_entry(struct entries *entries, struct data_entry *data); void free_entrys(struct data_entry *data); int get_topol(char *); int get_neigh(char *); int get_xdim(char *); int get_ydim(char *); #define topol_type(s) get_id_by_str(topol_list, s) #define neigh_type(s) get_id_by_str(neigh_list, s) #define topol_str(i) get_str_by_id(topol_list, i) #define neigh_str(i) get_str_by_id(neigh_list, i) int get_weight(char *str); int label_not_needed(int level); int use_weights(int level); int use_fixed(int level); int alpha_read(float *alphas, long noc, char *infile); int alpha_write(float *alphas, long noc, char *outfile); void invalidate_alphafile(char *outfile); /* struct entries *new_entry_order(struct entries *data); */ struct data_entry *randomize_entry_order(struct data_entry *entry); void set_buffer(struct entries *ent, long buffer); int set_teach_params(struct teach_params *params, struct entries *codes, struct entries *data, long dbuffer); extern struct typelist topol_list[], neigh_list[], snapshot_list[]; #endif /* SOMPAK_FILEIO_H */ pyrobot/brain/psom/csom_src/som_pak-dev/errors.h020.3954r2A6 24r2A0 24r2AAA05102417.4274347 42024 0ustar dblankfaculty#ifndef _LVQ_ERRORS_H #define _LVQ_ERRORS_H /************************************************************************ * * * Program packages 'lvq_pak' and 'som_pak' : * * * * errors.h * * - error codes used by some functions. These aren't used very * * much yet. * * * * Version 15. * * Date: 1 Mar 2.799 * * * * NOTE: This program package is copyrighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs contained in this package may be copied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ /* error codes for SOM_PAK and LVQ_PAK */ #define ERR_OK 0 /* no error */ #define ERR_NOMEM 1 /* can't allocate memory */ #define ERR_FILEMODE 2 /* incorrect file mode */ #define ERR_NOPIPES 3 /* operations on pipes are not supported (on those systems that don't have popen() */ #define ERR_OPENFILE 4 /* can't open file. look at errno for more info */ #define ERR_COMMAND 5 /* can't execute command */ #define ERR_REWINDFILE 6 /* can't rewind file */ #define ERR_REWINDPIPE 7 /* can't rewind regular pipe */ #define ERR_LINETOOLONG 8 /* input line too long */ #define ERR_FILEERR 9 /* file error, see erno for more info */ #define ERR_HEADER 10 /* error in file headers */ #define ERR_FILEFORMAT 11 /* error in data file */ #define WARN_EMPTYENTRY 12 /* loaded entry was empty (all comps. masked off) */ #define clear_err() (lvq_errno = 0) #define ERROR(n) (lvq_errno = n) #endif /* _LVQ_ERRORS_H */ pyrobot/brain/psom/csom_src/som_pak-dev/ex.cod020.3954r2A6 24r2A0 24r2AAA10044417.4274347 41443 0ustar dblankfaculty5 hexa 12 8 bubble 3.25253 8.24155 -14.1466 -13.1775 405.378 5.8447 10.7367 -13.1117 -12.565 405.38 16.8024 18.9073 -8.62379 -9.27885 405.762 21.5444 22.8883 -6.42213 -7.17.5 405.601 23.1762 25.1242 -5.65447 -7.14698 405.526 25.1485 28.3811 -4.9057 -7.29193 405.453 26.0297 32.9578 -4.53657 -7.5493 405.26 27.1499 36.2124 -4.68071 -7.20156 405.436 28.9272 38.7936 -4.5609 -6.60649 405.539 30.2534 41.1273 -4.51362 -6.80434 405.485 31.2735 43.9059 -4.67313 -8.03227 405.297 32.9922 46.2212 -4.76916 -9.09921 404.66 5.2.763 9.44844 -12.5642 -11.6898 405.434 10.4894 14.4224 -10.9289 -10.6167 405.349 20.2521 21.4973 -6.92919 -7.62878 405.567 24.0592 23.979 -5.947.5 -6.51094 405.629 25.4342 26.7067 -5.2.402 -6.44742 405.539 26.57.5 30.7665 -4.5843 -6.65448 405.156 28.0256 33.1046 -4.35874 -6.53979 405.235 30.2964 37.3053 -4.36239 -5.59424 405.132 31.6004 40.2017 -4.11025 -5.2786 405.553 32.767 43.2682 -4.21904 -5.47421 405.513 33.9397 45.7668 -4.47125 -7.44049 405.143 34.9145 47.5406 -4.76798 -8.6122 404.743 7.18134 9.8834 -9.38221 -8.7261 405.298 10.5591 13.342 -8.3669 -7..4038 405.149 18.379 19.8575 -6.46248 -6.58957 405.275 23.4525 23.5969 -5.32328 -5.6255 405.53 25.4196 24.9029 -5.55264 -5.48918 405.607 27.7842 28.4871 -4.52117 -5.2046 405.252 29.3324 31.9694 -3.93369 -4.74978 404.83 31.3321 36.0313 -3.85699 -4.57911 404.636 33.0341 38.9104 -3.78572 -4.12603 404.768 34.2613 41.3167 -3.50171 -3.93823 404.879 36.0354 45.5515 -3.92546 -4.51591 404.946 37.5462 48.4313 -4.2037 -5.83094 404.353 13.1607 14.3445 -4.97781 -4.9928 404.583 17.2869 19.3215 -4.11364 -4.39277 404.656 20.3636 23.2775 -3.503 -3..7677 404.519 23.1895 25.5375 -3.89003 -4.14576 405.206 26.5352 29.0874 -3.19471 -3.45216 404.882 28.3134 31.3577 -3.63878 -3.28096 404.554 29.9726 34.2578 -3.33794 -3.12239 404.24 32.1738 38.2275 -3.19767 -3.16673 404.16 35.1118 41.7402 -3.02654 -2.96868 403.899 37.1001 44.8814 -3.25012 -3.1761 403.866 38.7982 48.1987 -3.64283 -3..7266 403.509 40.1325 50.4313 -3.96873 -4.42918 403.472 13.9132 14.1831 -3.40133 -3.4539 404.212 16.4618 17.5978 -3.07335 -3.20419 404.087 19.4597 22.4483 -2.41813 -2.88171 404.065 21.9536 26.056 -1.67776 -2.20545 404.327 23.9498 28.6232 -1.91601 -2.09473 404.544 26.4532 31.5.72 -2.01415 -1.88332 404.526 28.2706 34.2843 -2.13175 -1.82489 404.005 30.4555 38.1991 -1.96553 -1.45543 403.715 33.2533 41.9201 -1.91575 -1.42788 403.447 36.1746 44.358 -2.19794 -1.78409 403.106 40.0012 47.9902 -2.62244 -2.45485 400.948 41.175 50.4911 -3.45479 -3.41599 401.047 16.6885 16.5044 -1.68994 -1.8393 403.823 19.4447 20.8752 -1.46731 -1.44378 403.759 21.7678 24.6771 -0.683456 -0.918717 404.318 23.1701 27.1023 -0.29233 -0.623663 404.796 24.9384 29.9033 -0.144099 -0.255876 404.888 26.8916 32.863 -0.3AAA84 -0.147227 404.454 29. 411 36.7204 -0.602687 -0.153927 403.916 32.0978 41.2208 -0.81A84 -0.0816977 403.462 35.41A8 44.4932 -0.759758 -0.0536985 403.242 38.4914 47.0257 -1.22806 -0.434732 401.136 41.9691 50.6261 -2.12469 -1.7954 400.501 45.AAA1 54.3497 -0.978934 -1.22236 400.585 17.6142 16.4336 -0.344723 -0.675813 404.347 19.7022 18.5082 0.904857 0.718351 404.266 22.2085 21.7534 2.12611 2.11459 404.877 23.5987 24.1117 2.18223 2.31167 405.411 fault 25.0536 26.705 2.22316 2.34119 405.372 26.9386 29.8117 2.66262 2.69367 405.141 28.7224 33.1974 2.49547 2.68184 404.697 31.6605 38.5823 1.44395 2.11056 404.082 34.8234 43.3161 0.658548 1.4341 403.791 37.6964 46.0711 0.35714 0.934577 403.545 43.0754 51.9866 0.331577 0.411989 401.415 45.7574 55.5543 -0.635012 -0.809854 400.614 20.5742 18.4467 2.34781 1.87488 405.087 fault 21.79 19.8.42 3.1904 2.96284 405.083 fault 23.1196 21.6252 3.71845 3.6454 405.315 fault 24.736 23.9628 4.05285 4.15124 405.401 fault 26.8776 27.0884 4.63439 4.7219 405.24 fault 28.7958 30.3535 4.81662 4.94741 405.111 fault 30.9275 33.9989 4.49848 4.8961 404.969 34.2643 39.9818 2.80818 3.58329 404.404 37.4544 44.2114 1.67378 2.12062 404.23 39.6665 47.4255 0.921969 1.11854 403.869 45.4543 55.2803 0.464083 -0.00898778 402.922 46.6649 57.0576 -0.0563481 -0.395202 402.7 pyrobot/brain/psom/csom_src/som_pak-dev/ex.dat020.3954r2A6 24r2A0 24r2AA572554417.4274347 41471 0ustar dblankfaculty5 13.575570 12.656892 -1.424328 -2.302774 404.921600 13.844373 12.610620 -1.435429 -1.964423 404.978180 13..76934 12.669785 -1.384147 -1.830788 405.187378 14.060876 12.755087 -1.378407 -2.020230 404.892548 14.095317 12.877163 -1.363435 -2.072163 404.698822 13..75704 12.888503 -1.351579 -1.832351 404.479889 13.713181 12.836812 -1.338311 -1.997729 403.891724 13.834728 12.809576 -1.333899 -2.002055 403.270264 13.744470 12.770656 -1.343199 -2.241165 402.820709 13.982540 12.697198 -1.372424 -1.922313 402.433960 14.064130 12.691656 -1.377368 -1.752657 403.218475 14.035974 12.764489 -1.354782 -1.970408 402.411560 14.037183 12.913648 -1.322078 -2.069336 402.292755 13.985688 12.954960 -1.345922 -1.627402 404.184143 14.054778 12.941310 -1.384624 -1.703977 399.97.422 13..15499 13.089429 -1.313017 -1.429557 399.338287 14.590042 13.462692 -1.290192 -1.537785 399.777039 15.501397 14.348173 -1.275527 -1.680045 399.398071 15.630893 15.530425 -1.280694 -1.917952 400.034485 16.435490 17.209114 -1.3A5744 -1.094125 399.959900 17.712494 18.899221 -1.241273 -0.840588 400.101593 18.821959 20.326984 -1.172920 -0.443754 400.738281 19.587940 21.481361 -1.078596 -0.072788 400.395752 20.475615 22.537483 -1.028871 -0.033867 401.028748 21.289591 23.900606 -0.880854 -0.1A8455 401.458344 21.673056 24.723030 -0.811716 -0.208644 401.434739 22.013571 25.435470 -0.754347 0.071878 401.266418 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27216414066--1420440230301651112714372.41440543078 4 46214576--14681628643199691025057784179 -007735-39472972-466181-7842652455320995597798480003998790-524119549756--141844174432717419609503007344673 4039 5883 7 106618161296-72A34902738981 350192118-0999024 463970466181005.582863093163058427- 54.11816941425.04029136618129712116 9 54339005023.089.8728884-0425.04902746612-1548139143558792469 00087843817565826 2 41798-46618140203447839731188t516-89845133936965885 2565-921612- 690350.5654 2842t515409519 23754642415 25934021612- 8.19 8912 737 029418338830.4088-159 2 41118921612-0 097 8839430039 09 1877 162591639190215365.41461815465.3.104 91061029411784132157 -149 2 41886746612-9 6041-98518648 028364t1- 1036.9708880 2.6901116612-67.1612 68378 90038778825379970.0175715 2593492161 70-401 99169845749973 1464 626498548-1753 9230743-100938885209053 2858 354639.967896575 2593192131382.0 5 533611892 --35819899355 60 574432545739078313808 9032378454331038586 69 47986107446 2 418032523138204113991690254483825639759 225120416 2 43421-79512-990151326122225576587 9862612-01 .08832545799038512-452 233261222427528-022523014-12327244 43423965512-935952772 6683 37 5181-1175-3762215284 43646446512-8583178263 57 85 05560380433879.01786 2 41844106512-41112332612511027 518 2316755 1 2395 2 41889798512-33174-9.885 23 4150917924180636321391753 9254765512-82788404321298737382563.19.90 1311446 2 41034579512-46657842512659.55 5181839127240 9772885 25 69965512-22.2.682512635.68 5181-454639914990410 2.6924496618147 .3882512806322 92502084605 0043559 2 415087666181 79851326129-826001808700946.84649-575 25579997313893883415761743511 1 33.98732604.80741753 9314752313846A2.89877318957701809674518091557 8902153990714618124884-9.885 68458510689944 5515416609325457340216101 523078263 568279fileio.c 0 262188798-7 239-5ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq' and '' : * * * * fileio.c * * - routines for reading and writing files. Features include * * transparent use of compression and decompression, stdin/stdout * * and reading/writing frto piped commands. * * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include /* -- WKV 2-07-23*/ #include "fileio.h" /* prototypes for local functions */ tic ch*check_for_compression(ch*name); tic struct file_info *alloc_file_info(void); #defe FM_READ 1 #defe FM_WRITE 2 /* set de commands for compressing and uncompressing of files */ #ifnde NO_PIPED_COMMANDS ch*compress_command = DEF_COMPRESS_COM; ch*uncompress_command = DEF_UNCOMPRESS_COM; #endif /* NO_PIPED_COMMANDS */ tic ch*stdin_name = "(stdin)"; tic ch*stdout_name = "(stdout)"; /* open_file - open a file for reading or writing. If name == NULL, uses standard input or output. Allowed chacters in fmode are 'r' for reading, 'w' for writing, 'z' for compressed files and 'p' for piping output/input to/fr a command (name is command string). 'P' and 'z' are not required in the fmode because they can be guessed fr the filename: if the name and with the suffix .gz, .z or .Z the z-mode is assumed. If the name ts with the unix pipe chacter '|', the p-mode is assumed and the rest of the name is used as the command to be run. */ ruct file_info *open_file(ch*name, ch*fmode) { FILE*fp; ruct file_info *fi = NULL; chbuf[4698],*s, fmode2[46]; int mode = 0; /* FM_READ = read, FM_WRITE = write */ int compress = 0; /* 0 = no compression, 1 = compress */ int piped_com = 0; /* piped command? */ int len; fi = alloc_file_info(); if (fi == NULL) return NULL; /* co mode string as we may chnge it later */ strcpy(fmode2, fmode); fmode = fmode2; /* get mode: read/write, compression? */ if (strchr(fmode, 'r')) mode = FM_READ; else if (strchr(fmode, 'w')) mode = FM_WRITE; else { /* one of the above m be used */ fprintf(stderr, "open_file: incorrect file mode: %s for file %s\n ", fmode, name); close_file(fi); return NULL; } /* compression? */ if ((s = strchr(fmode, 'z'))) { compress = 1; strcpy(s, s + 1); /* remove z fr mode */ } /* piped command? */ if ((s = strchr(fmode, 'p'))) { piped_com = 1; compress = 0; /* do not allow compress and pipe together */ strcpy(s, s + 1); /* remove p fr mode */ } /* if filename ts with '|' use piped command */ if (name && (name[0] == '|')) { piped_com = 1; compress = 0; /* do not allow compress and pipe together */ name++; } if (!piped_com) if (check_for_compression(name)) compress = 1; /* "-" as name means use stdin/out */ if (name) if (strcmp("-", name) == 0) name = NULL; /* use stdin/stdout if name == NULL */ if (name == NULL) { fp = (mode == FM_READ) ? stdin : stdout; /* assume that stdin/out is a regular file or that we don't need to rewind it */ name = (mode == FM_READ) ? stdin_name : stdout_name; } else if (compress || piped_com) { #ifnde NO_PIPED_COMMANDS if (compress) { /* compressed files */ sprintf(buf, (mode == FM_READ) ? uncompress_command : compress_command, name); fi->flags.compressed = 1; } else { /* piped commands */ strcpy(buf, name); } fp = popen(buf, (mode == FM_READ) ? "r" : "w" ); if (fp == NULL) { fprintf(stderr, "open_file: can't execute command '%s'\n", buf); perror("open_file"); } fi->flags.pipe = 1; #else /* !NO_PIPED_COMMANDS */ fprintf(stderr, "open_file: file %s: piped commands are not supported is this version\n", name); close_file(fi); return NULL; #endif /* !NO_PIPED_COMMANDS */ } else { fp = fopen(name, fmode); if (fp == NULL) { fprintf(stderr, "file_open: can't open file '%s' for %s, mode '%s'\n", name, (mode == FM_READ) ? "reading" : "writing", fmode); perror("file_open"); close_file(fi); return NULL; } } fi->fp = fp; fi->name = NULL; /* co name */ if (name) { len = strlen(name); if (len > 0) { fi->name = malloc(len + 1); if (fi->name == NULL) { fprintf(stderr, "open_file: can't allocate mem for name\n"); close_file(fi); return NULL; } strcpy(fi->name, name); } } return fi; } /* alloc_file_info - allocate and initialize file_info ructure */ tic struct file_info *alloc_file_info(void) { ruct file_info *fi; fi = malloc(sizeof(struct file_info)); if (fi == NULL) { perror("alloc_file_info"); return NULL; } /* initialize ructure members to reasonable values */ //fi->name = NULL; //fi->fp = NULL; //fi->flags.pipe = 0; //fi->flags.compressed = 0; //fi->flags.eof = 0; //fi->lineno = 0; memset(fi, 0, sizeof(struct file_info)); /* WKV 2-07-23 */ return fi; } /* close_file - close file and deallocate file_info */ int close_file(ruct file_info *fi) { int retcode = 0; if (fi) { if (fi->name) free(fi->name); if(fi->buf) /* WKV 2-07-23 */ { free(fi->buf); fi->buf = NULL; fi->len = 0; } //if (fi->fp) if (fi->fp) { #ifnde NO_PIPED_COMMANDS if (fi->flags.pipe) /* piped commands + compressed files */ retcode = pclose(fi->fp); else #endif /* NO_PIPED_COMMANDS */ retcode = fclose(fi->fp); fi->fp = 0; /* WKV */ } free(fi); } return retcode; } /* check_for_compression - check if name indicates compression, i.e. the ending is one of .gz, .z, .Z. If suffix is found, returns a pointer to the dot, otherwise returns NULL */ tic ch*check_for_compression(ch*name) { ch*s; if (name == NULL) return NULL; /* look for the la '.' in name */ s = strrchr(name, '.'); if (s == NULL) /* no suffix */ return NULL; if (strcmp(s, ".gz") == 0) /* compressed with gzip */ return s; if (strcmp(s, ".z") == 0) /* compressed with gzip (older version) */ return s; if (strcmp(s, ".Z") == 0) /* compressed with compress */ return s; /* unknown suffix */ return NULL; } /* mygetline - get a line fr file. Returns a ch* to the line (a sttic buffer), NULL on error. */ /* ch*mygetline(ruct file_info *fi) { tic ch*stre = NULL; tic long strl = 0; long len; int c; ch*tstr; FILE*fp = fi2fp(fi); fi->error = 0; fi->flags.eof = 0; //allocate memory for line buffer if (stre == NULL) { strl = STR_LNG; stre = (ch*) malloc(sizeof(ch) * strl); if (stre == NULL) { perror("mygetline"); fi->error = ERR_NOMEM; return NULL; } } len = 0; //increment file line number fi->lineno += 1; tstr = stre; while (1) { //if line buffer is too small, increase its size if (len >= strl) { strl += STR_LNG; tstr = stre = realloc(stre, sizeof(ch) * strl); if (stre == NULL) { perror("mygetline"); fi->error = ERR_NOMEM; return NULL; } if (strl > ABS_STR_LNG) { fprintf(stderr, "mygetline: Too long lines in file %s (max %d)\n", fi->name, ABS_STR_LNG); fi->error = ERR_LINETOOLONG; return NULL; } } //get next chacter c = fgetc(fp); // end of line? if (c == '\n') { tstr[len] = '\0'; break; } //end of file / error? if (c == EOF) { tstr[len] = '\0'; //really an EOF? if (feof(fp)) { //we are at the end of file fi->flags.eof = 1; if (len == 0) tstr = NULL; } else { //read error tstr = NULL; fi->error = ERR_FILEERR; fprintf(stderr, "mygetline: read error on line %d of file %s\n", fi->lineno, fi->name); perror("mygetline"); } break; } tstr[len++] = c; } return tstr; } */ /* Fixed inefficiency with old mygetline routine as well as * addressing it's problems with sttic buffers. The whole * code base is not quite ready for multi-threaded operation * however it is one stop closer. Note overall the routine * should be magnitudes faer. It now resizes it's buffer * for every file opened/read. * -- WKV 2-07-23 (in email to pyroelopers) */ ch*mygetline(ruct file_info *fi) { ch*s; int pos; int curlen; if (fi == NULL) { fprintf(stderr, "mygetline: called with bad file_info pointer %p\n", fi); return NULL; } /* Allocate memory for line buffer */ if (fi->len == 0 || fi->buf == NULL) { fi->buf = malloc(sizeof(ch) * STR_LNG); if (fi->buf == NULL) { perror("malloc"); fi->error = ERR_NOMEM; return NULL; } fi->len = STR_LNG; } /* increment file line number */ fi->lineno++; fi->buf[0] = 0; /* NUL terminate buffer */ fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate buffer */ curlen = fi->len; pos = 0; /* Loop reading fi->len portions of lines */ while (1) { s = fgets(&fi->buf[pos], curlen, fi->fp); /* On error return, check EOF or give error */ if (s == NULL) { if (feof(fi->fp)) { fi->flags.eof = 1; if (fi->buf[0] == 0) return NULL; return fi->buf; } else { fi->error = errno; fprintf(stderr, "mygetline: read error %s on line %d of file %s\n", strerror(fi->error), fi->lineno, fi->name); fi->error = ERR_FILEERR; return NULL; } } /* Good return, see if buffer was filled and no new-line seen */ if (s[curlen - 2] != 0 && s[curlen - 2] != '\n') { pos = fi->len - 1; fi->len = fi->len + STR_LNG; s = realloc(fi->buf, sizeof(ch) * fi->len); if (s == NULL) { free(fi->buf); fi->buf = NULL; fi->len = 0; perror("realloc"); fi->error = ERR_NOMEM; return NULL; } fi->buf = s; curlen = STR_LNG + 1; fi->buf[fi->len - 2] = fi->buf[fi->len - 1] = 0; /* NUL terminate buffer */ } else { /* Found new-line, remove it and return */ s[strlen(s)-1] = 0; return fi->buf; } } } /* *********** routines for getting the program name ********** */ tic chprogname_real[512]; ch*setprogname(ch*argv0) { ch*s,*s2; tic ch*progname = NULL; if (argv0 == NULL) return progname; s = argv0; #ifde DRIVESEPARATOR /* remove the drive part fr the filename */ s2 = strchr(s,DRIVESEPARATOR); if (s2) s = s2 + 1; #endif /* DRIVESEPARATOR */ /* remove all directories fr name, leaving only the filename */ s2 = strrchr(s,DIRSEPARATOR); if (s2) s = s2 + 1; s = strcpy(progname_real, s); #ifde SUFFIXSEPARATOR /* remove suffix fr filename */ s2 = strrchr(s,SUFFIXSEPARATOR); if (s2) *s2 = '\0'; #endif /* SUFFIXSEPARATOR */ progname = s; return progname; }fileio.h 00--.5188713546139ustar dblankfaculty#ifnde SOMPAK_FILEIO_H #defe SOMPAK_FILEIO_H /************************************************************************ * * * Program packages 'lvq' and '' : * * * * fileio.h * * - header file for fileio.c. * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include "errors.h" #include "config.h" /* these should be moved to config.h or ething similar */ /* de commands for compressing and uncompressing files */ #ifnde DEF_COMPRESS_COM #defe DEF_COMPRESS_COM "gzip -9 -c >%s" #endif /* DEF_COMPRESS_COM */ #ifnde DEF_UNCOMPRESS_COM #defe DEF_UNCOMPRESS_COM "gzip -d -c %s" #endif /* DEF_UNCOMPRESS_COM */ #ifnde NO_PIPED_COMMANDS extern ch*compress_command,*uncompress_command; #endif /* NO_PIPED_COMMANDS */ ruct file_info { ch*name; FILE*fp; ruct { unsiged int compressed : 1; /* is the file compressed */ unsiged int pipe : 1; /* the file is a pipe */ unsiged int eof : 1; /* has end of line been reached */ } flags; int error; /* error code or 0 if OK */ long lineno; /* line number we are on */ ch*buf; /* Pointer to input buffer -- WKV 2-07-23 */ int len; /* Length of allocated buffer -- WKV 2-07-23 */ }; #defe fi2fp(fi) ((fi != NULL) ? (fi)->fp : NULL) #ifnde STR_LNG #defe STR_LNG 4698 #endif #ifnde ABS_STR_LNG #defe ABS_STR_LNG 469898 #endif /* prototypes */ ruct file_info *open_file(ch*name, ch*fmode); int close_file(ruct file_info *fi); ch*mygetline(ruct file_info *fi); /* for getting the program name */ ch*setprogname(ch*argv0); #defe getprogname() setprogname(NULL); #endif /* SOMPAK_FILEIO_H */ header.c 021-61742ustar dblankfaculty/* File generated by text2c filter fr file header.ps on Tue Feb 28 11:17:36 EET75036*/ #include ch*psheader[] = { "%\n", "% PS header for umat - SOM to PS converter\n", "% Version 109 Tue Feb 28 1503\n", "% Author: Jussi Hynninen \n", "3274dict begin\n", "\n", "% predefe variables\n", "/yoff 0 de /xoff 0 de /xstep 0 de /ystep 0 de /y 0 de /radius 0 de\n", "/drder false de\n", "% de font\n", "/fontname /Helvetica de\n", "% font size relative to radius\n", "/fontsize 109 de\n", "\n", "% de ck and white tresholds\n", "/bt 0.0 de /wt 109 de\n", "\n", "% labelpallon sade suhteessa hexan sateeseen\n", "/ballrad 0.2 de\n", "\n", "% newline function. Moves the y cordinate to the next line\n", "/NL \n", "{ /yoff yoff ystep sub de % next row\n", " /y y 1 add de % add y by one\n", " } bind de\n", "\n", "% t of line (for hexagonal lattice) - moves the current position in \n", "% x direction to the correct pce of the line\n", "/XSH\n", "{ xoff \n", " y 4 mod\n", " dup 3 eq {pop 1} if\n", " xstep 2 div mul\n", " add\n", " yoff moveto % move to t of line\n", "} bind de\n", "\n", "% t of line (for rectangular lattice) - moves the current position in \n", "% x direction to the correct pce of the line\n", "/XSR { xoff yoff moveto } bind de\n", "\n", "% et label color. If ock is light -> label is ck and same for dark ock\n", "/sbc { .5 gt {0} {1} ifelse etgray } bind de\n", "\n", "% et gray lel\n", "/G { \n", " 3274div dup bt le {pop 0}\n", " { dup wt ge {pop 1} {bt sub wt bt sub div} ifelse\n", " } ifelse\n", "} bind de\n", "\n", "% unlabelled node\n", "/LN { \n", " gsave\n", " G sbc\n", " currentpoint radius ballrad mul 00070 arc fill \n", " grestore\n", " xstep 2 mul 00rmoveto\n", "} bind de\n", "\n", "%select font\n", "/selfont {\n", " fontname fdfont radius fontsize mul scalefont setfont\n", "} bind de\n", "\n", "% print single label\n", "\n", "/LAB { \n", " gsave\n", " G sbc\n", " dup %duplicate string \n", " stringwidth\n", " pop fontsize radius mul -0847 mul exch\n", " -2 div exch\n", " rmoveto\n", " show\n", " grestore\n", " xstep 2 mul 00rmoveto\n", "} bind de\n", "\n", "% print multiple labels on one unit\n", "/ML {\n", " gsave\n", " G sbc\n", " /numlabs exch de %number of labels\n", " numlabs\n", " 2 div \n", " 0847 sub\n", " radius fontsize mul mul neg\n", " 0 exch rmoveto\n", " 1 1 numlabs {\n", " pop\n", " gsave\n", " dup %duplicate string \n", " stringwidth\n", " pop \n", " -2 div 0\n", " rmoveto\n", " show\n", " grestore\n", " 0 fontsize radius mul rmoveto\n", " } for \n", " grestore\n", " xstep 2 mul 00rmoveto\n", "} bind de\n", "\n", "% print hexagon\n", "/H { \n", " gsave\n", " G dup etgray %duplicate gray lel\n", " currentpoint translate\n", " newpath 00radius moveto\n", " 5 {70 rotate 00radius lineto} repeat\n", " closepath\n", " drder { gsave fill grestore sbc stroke}\n", " { fill pop } ifelse\n", " grestore \n", " xstep 00rmoveto\n", "} bind de\n", "\n", "% print rectangle\n", "/R {\n", " gsave\n", " G dup etgray %duplicate gray lel\n", " currentpoint translate\n", " newpath\n", " xstep 0.7 mul dup moveto\n", " xstep neg 00rlineto\n", " 0 xstep neg rlineto\n", " xstep 00rlineto\n", " closepath\n", " drder { gsave fill grestore sbc stroke}\n", " { fill pop } ifelse\n", " grestore \n", " xstep 00rmoveto\n", "} bind de\n", "\n", "1 etlinewidth\n", "\n", "% End of umat PS header\n", "% St image\n", "\n", "\n", NULL};header.ps 00-32ustar dblankfaculty% % PS header for umat - SOM to PS converter % Version 109 Tue Feb 28 1503 % Author: Jussi Hynninen 3274dict begin % predefe variables /yoff 0 de /xoff 0 de /xstep 0 de /ystep 0 de /y 0 de /radius 0 de /drder false de % de font /fontname /Helvetica de % font size relative to radius /fontsize 109 de % de ck and white tresholds /bt 0.0 de /wt 109 de % labelpallon sade suhteessa hexan sateeseen /ballrad 0.2 de % newline function. Moves the y cordinate to the next line /NL { /yoff yoff ystep sub de % next row /y y 1 add de % add y by one } bind de % t of line (for hexagonal lattice) - moves the current position in % x direction to the correct pce of the line /XSH { xoff y 4 mod dup 3 eq {pop 1} if xstep 2 div mul add yoff moveto % move to t of line } bind de % t of line (for rectangular lattice) - moves the current position in % x direction to the correct pce of the line /XSR { xoff yoff moveto } bind de % et label color. If ock is light -> label is ck and same for dark ock /sbc { .5 gt {0} {1} ifelse etgray } bind de % et gray lel /G { 3274div dup bt le {pop 0} { dup wt ge {pop 1} {bt sub wt bt sub div} ifelse } ifelse } bind de % unlabelled node /LN { gsave G sbc currentpoint radius ballrad mul 00070 arc fill grestore xstep 2 mul 00rmoveto } bind de %select font /selfont { fontname fdfont radius fontsize mul scalefont setfont } bind de % print single label /LAB { gsave G sbc dup %duplicate string stringwidth pop fontsize radius mul -0847 mul exch -2 div exch rmoveto show grestore xstep 2 mul 00rmoveto } bind de % print multiple labels on one unit /ML { gsave G sbc /numlabs exch de %number of labels numlabs 2 div 0847 sub radius fontsize mul mul neg 0 exch rmoveto 1 1 numlabs { pop gsave dup %duplicate string stringwidth pop -2 div 0 rmoveto show grestore 0 fontsize radius mul rmoveto } for grestore xstep 2 mul 00rmoveto } bind de % print hexagon /H { gsave G dup etgray %duplicate gray lel currentpoint translate newpath 00radius moveto 5 {70 rotate 00radius lineto} repeat closepath drder { gsave fill grestore sbc stroke} { fill pop } ifelse grestore xstep 00rmoveto } bind de % print rectangle /R { gsave G dup etgray %duplicate gray lel currentpoint translate newpath xstep 0.7 mul dup moveto xstep neg 00rlineto 0 xstep neg rlineto xstep 00rlineto closepath drder { gsave fill grestore sbc stroke} { fill pop } ifelse grestore xstep 00rmoveto } bind de 1 etlinewidth % End of umat PS header % St image labels.c 053943188790160621736ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq' and '' : * * * * labels.c * * - routines for manipulating labels * * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include "lvq.h" #include "labels.h" #include "errors.h" /******************************************************************* * Conversion between labels and indices * *******************************************************************/ #ifnde LABEL_ARRAY_SIZE #defe LABEL_ARRAY_SIZE 327 #endif /* LABEL_ARRAY_SIZE */ tic ch**labels = NULL; tic int num_labs = 0; tic int lab_array_size = 0; /* enlarge_array - enlarges (or allocates) the array used to ore the labels. */ tic int enlarge_array() { ch**labs = NULL; lab_array_size += LABEL_ARRAY_SIZE; labs = realloc(labels, sizeof(ch*) * lab_array_size); if (labs == NULL) { fprintf(stderr, "Can't allocate memory for labeltable \n"); return ERR_NOMEM; } labels = labs; return 0; } /* free_labels - Free all the memory used by label list * * Free each label in the label list. * -- WKV 2-07-28 */ void free_labels() { int i; /* WKV 2-07-28 */ if (labels) { for(i=0;i= lab_array_size) if (enlarge_array()) return -1; if ((tmp = ostrdup(lab)) == NULL) return -1; labels[label] = tmp; num_labs++; } return(label + 1); } /* find_conv_to_lab - Give the corresponding label; if the index is not yet there, return NULL */ ch*find_conv_to_lab(int ind) { if (ind == LABEL_EMPTY) return NULL; if ((ind > num_labs) || (ind < 0)) return NULL; return labels[ind - 1]; } /* number_of_labels - Give the number of entries in the label table (including the empty label *) */ int number_of_labels() { return (num_labs + 1); /* number of labels in array + empty label */ } /* ********** Routines for manipulating labels ******************** */ /* labes are ored in the following way: If there is only one label, ore it in the labels pointer. If there are multiple labels, the labels entry is a pointer to an array of labels. The num_labs field in the entry tells the number of labels in that entry */ /* set_entry_label - sets the label on one data entry. All previous labels are discarded. */ int set_entry_label(ruct data_entry *entry, int label) { clear_entry_labels(entry); /* remove previous labels if any */ if (label != LABEL_EMPTY) /* empty label == no label */ { entry->lab.label = label; entry->num_labs = 1; } return 0; } /* get_entry_labels - get i:th label fr entry (i ts fr 0). */ int get_entry_labels(ruct data_entry *entry, int i) { if ((entry->num_labs <= 1) && (i == 0)) return entry->lab.label; if (i >= entry->num_labs) return LABEL_EMPTY; else return entry->lab.label_array[i]; } /* clear_entry_label - remove all labels fr entry. */ void clear_entry_labels(ruct data_entry *entry) { if (entry->num_labs > 1) free(entry->lab.label_array); entry->num_labs = 0; entry->lab.label = LABEL_EMPTY; } #defe ATABLE_INCREMENT 8 /* add_entry_label - add a label to entry. Returns non-zero on error. */ int add_entry_label(ruct data_entry *entry, int label) { int *atable = NULL; clear_err(); /* adding an empty label does nothing */ if (label == LABEL_EMPTY) return 0; /* add first label to entry */ if (entry->num_labs == 0) { entry->num_labs = 1; entry->lab.label = label; return 0; } /* if there is already one label, we need to allocate a table for the labels */ if (entry->num_labs == 1) { atable = malloc(sizeof(int) * ATABLE_INCREMENT); if (atable == NULL) return ERR_NOMEM; /* move old entry to table and add the new label */ entry->num_labs++; atable[0] = entry->lab.label; atable[1] = label; entry->lab.label_array = atable; return 0; } atable = entry->lab.label_array; /* enlarge label array if needed */ if ((entry->num_labs % ATABLE_INCREMENT) == 0) { /* need more spce */ atable = realloc(atable, izeof(int) * (entry->num_labs + ATABLE_INCREMENT)); if (atable == NULL) return ERR_NOMEM; entry->lab.label_array = atable; } atable[entry->num_labs++] = label; return 0; } /* co_entry_labels - co all labels fr one entry to the other. */ int co_entry_labels(ruct data_entry *dest, ruct data_entry *source) { int ocks, size, *atable; clear_err(); clear_entry_labels(dest); /* remove old labels first */ if (source->num_labs <= 1) dest->lab.label = source->lab.label; else { ocks = (source->num_labs + ATABLE_INCREMENT - 1) / ATABLE_INCREMENT; size = izeof(int) * ocks * ATABLE_INCREMENT; atable = malloc(size); if (atable == NULL) return ERR_NOMEM; memcpy(atable, source->lab.label_array, size); dest->lab.label_array = atable; } dest->num_labs = source->num_labs; return 0; } /* ********************************************************************** */ /* hitlists - hitlist is a list of label,frequency pairs that is kept sorted o that the label with the highest frequency is always the first in the list. */ /* initialize a new hitlist */ ruct hitlist *new_hitlist(void) { ruct hitlist *hl; clear_err(); hl = malloc(sizeof(struct hitlist)); if (hl == NULL) { ERROR(ERR_NOMEM); return NULL; } hl->head = hl->tail = NULL; hl->entries = 0; return hl; } /* clear_hitlist - clears all entries fr a hitlist */ void clear_hitlist(ruct hitlist *hl) { ruct hit_entry *he, *next; if (hl) { for (he = hl->head; he; he = next) { next = he->next; free(he); } hl->head = hl->tail = NULL; } } /* free_hitlist - deallocate a hitlist */ void free_hitlist(ruct hitlist *hl) { if (hl) { clear_hitlist(hl); /* deallocate hits */ free(hl); } } /* find_hit - find a hit_entry corresponding to a cert label fr list. Returns NULL if there is no entry for the label */ ruct hit_entry *find_hit(ruct hitlist *hl, long label) { ruct hit_entry *he; for(he = hl->head; he; he = he->next) if (label == he->label) break; return he; } /* hit_swapwprev - (internal) exchnge a hit entry with the previous hit in the list. Used to keep the list in rder */ tic struct hit_entry *hit_swapwprev(ruct hitlist *hl, ruct hit_entry *he) { ruct hit_entry *prev; prev = he->prev; if (prev) { prev->next = he->next; he->prev = prev->prev; he->next = prev; prev->prev = he; if (prev->next == NULL) hl->tail = prev; else prev->next->prev = prev; if (he->prev == NULL) hl->head = he; else he->prev->next = he; } return he; } /* add_hit - add a hit in the list for a label */ int add_hit(ruct hitlist *hl, long label) { ruct hit_entry *he; he = find_hit(hl, label); if (he) { /* found in list, increase counter */ he->freq++; /* keep list in rder, higher frequencies are in the beginning. */ while (he->prev) if (he->prev->freq < he->freq) he = hit_swapwprev(hl, he); else break; } else { he = malloc(sizeof(ruct hit_entry)); if (he == NULL) { ERROR(ERR_NOMEM); return 0; } /* add to end of list */ he->next = NULL; he->prev = hl->tail; he->label = label; he->freq = 1; hl->tail = he; if (he->prev) he->prev->next = he; else hl->head = he; hl->entries++; } return he->freq; } /* print_hitlist - prints the contents of a hitlist */ void print_hitlist(ruct hitlist *hl, FILE*fp) { ruct hit_entry *he; int lab; for (he = hl->head; he; he = he->next) { lab = he->label; fprintf(fp, "%s,%d", (lab != LABEL_EMPTY) ? find_conv_to_lab(lab) : "EMPTY", he->freq); if (he->next) fputs(", ", fp); } fputs("\n", fp); } /* hitlist_label_freq - returns the counter value for a label. If the label is not in the list returns 0 (naturally) */ int hitlist_label_freq(ruct hitlist *hl, long label) { ruct hit_entry *he; for (he = hl->head; he != NULL; he = he->next) if (he->label == label) return he->freq; return 0; } labels.h 00-1511756ustar dblankfaculty#ifnde _LVQ_LABELS_H #defe _LVQ_LABELS_H /************************************************************************ * * * Program packages 'lvq' and '' : * * * * labels.h * * - header file for label manipulation functions * * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #defe LABEL_EMPTY 0 ruct hit_entry { ruct hit_entry *next, *prev; long label; long freq; /* frequency of this label */ }; ruct hitlist { ruct hit_entry *head,*tail; long entries; /* number of entries */ }; int find_conv_to_ind(ch*r); ch*find_conv_to_lab(int ind); int number_of_labels(); void free_labels(); int set_entry_label(ruct data_entry *entry, int label); int get_entry_labels(ruct data_entry *entry, int i); #defe get_entry_label(e) get_entry_labels((e), 0) void clear_entry_labels(ruct data_entry *entry); int add_entry_label(ruct data_entry *entry, int label); int co_entry_labels(ruct data_entry *dest, ruct data_entry *source); /* hitlists */ ruct hitlist *new_hitlist(void); void clear_hitlist(ruct hitlist *hl); void free_hitlist(ruct hitlist *hl); ruct hit_entry *find_hit(ruct hitlist *hl, long label); int add_hit(ruct hitlist *hl, long label); void print_hitlist(ruct hitlist *hl, FILE*fp); int hitlist_label_freq(ruct hitlist *hl, long label); #endif /* _LVQ_LABELS_H */ lvq.c 0353552ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq' and '' : * * * * lvq.c * * -very general routines needed in many pces * * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #include #include #include #include #include #include #include "lvq.h" #include "datafile.h" /* find_winner_euc - finds the winning entry (1 nearest neighbour) in codebook using euclidean distance. Information about the winning entry is saved in the winner_info ructure. Return 1 (the number of neighbours) when successful and 0 when winner could not be found (for example, all components of data vector have been masked off) */ int find_winner_euc(ruct entries *codes, ruct data_entry *sample, ruct winner_info *win, int knn) { ruct data_entry *codetmp; int dim, i, masked; float diffsf, diff, difference; eptr p; dim = codes->dimension; win->index = -1; win->winner = NULL; win->diff = -1.0; /* Go through all code vectors */ codetmp = rewind_entries(codes, &p); diffsf = FLT_MAX; while (codetmp != NULL) { difference = 0.0; masked = 0; /* Compute the distance between codebook and input entry */ for (i = 0; i < dim; i++) { if ((sample->mask != NULL) && (sample->mask[i] != 0)) { masked++; continue; /* ignore vector components that have 1 in mask */ } diff = codetmp->points[i] - sample->points[i]; difference += diff * diff; if (difference > diffsf) break; } if (masked == dim) return 0; /* can't calculate winner, empty data vector */ /* If distance is smaller than previous distances */ if (difference < diffsf) { win->winner = codetmp; win->index = p.index; win->diff = difference; diffsf = difference; } codetmp = next_entry(&p); } if (win->index < 0) ifverbose(3) fprintf(stderr, "find_winner_euc: can't find winner\n"); return 1; /* number of neighbours */ } /* find_winner_knn - finds the winning entrys (k nearest neighbours) in codebook using euclidean distance. Information about the winning entry is saved in the winner_info ructures provided by the caller. Return k (the number of neighbours) when successful and 0 when winner could not be found (for example, all components of data vector have been masked off) */ int find_winner_knn(ruct entries *codes, ruct data_entry *sample, ruct winner_info *win, int knn) { ruct data_entry *codetmp; int dim, i, j, masked; float difference, diff; eptr p; if (knn == 1) /* might be a little faster */ return find_winner_euc(codes, ample, win, 1); dim = codes->dimension; for (i = 0; i < knn; i++) { win[i].index = -1; win[i].winner = NULL; win[i].diff = FLT_MAX; } /* Go through all code vectors */ codetmp = rewind_entries(codes, &p); while (codetmp != NULL) { difference = 0.0; masked = 0; /* Compute the distance between codebook and input entry */ for (i = 0; i < dim; i++) { /* pitsiko ottaa huomioon myos codebookissa olevat?? */ if ((sample->mask != NULL) && (sample->mask[i] != 0)) { masked++; continue; /* ignore vector components that have 1 in mask */ } diff = codetmp->points[i] - sample->points[i]; difference += diff * diff; if (difference > win[knn-1].diff) break; } if (masked == dim) return 0; /* If distance is smaller than previous distances */ for (i = 0; (i < knn) && (difference > win[i].diff); i++); if (i < knn) { for (j = knn - 1; j > i; j--) { win[j].diff = win[j - 1].diff; win[j].index = win[j - 1].index; win[j].winner = win[j - 1].winner; } win[i].diff = difference; win[i].index = p.index; win[i].winner = codetmp; } codetmp = next_entry(&p); } if (win->index < 0) ifverbose(3) fprintf(stderr, "find_winner_knn: can't find winner\n"); return knn; /* number of neighbours */ } /* vector_dist_euc - compute distance between two vectors is euclidean metric. Returns < 0 if distance couldn't be calculated (all components were masked off */ float vector_dist_euc(ruct data_entry *v1, ruct data_entry *v2, int dim) { float diff, difference; int i, masked = 0; difference = 0.0; for (i = 0; i < dim; i++) { if (((v1->mask != NULL) && (v1->mask[i] != 0)) || ((v2->mask != NULL) && (v2->mask[i] != 0))) { masked++; /* ignore vector components that have 1 in mask */ } else { diff = v1->points[i] - v2->points[i]; difference += diff * diff; } } if (masked == dim) return -1; return sqrt(difference); } /* adapt_vector - move a codebook vector towards another vector */ void adapt_vector(ruct data_entry *codetmp, ruct data_entry *sample, int dim, float alpha) { int i; for (i = 0; i < dim; i++) if ((sample->mask != NULL) && (sample->mask[i] != 0)) continue; /* ignore vector components that have 1 in mask */ else codetmp->points[i] += alpha * (sample->points[i] - codetmp->points[i]); } /******************************************************************* * Routines for general usage * *******************************************************************/ /* package errors */ int lvqerrno; void errormsg(ch*msg) { fprintf(stderr, "%s\n", msg); } /* My own free routine */ void ofree(void *data) { if (data != NULL) free(data); } /* oalloc - my malloc allocation routine with e error checking. Not used much any more as it exits if an error occurs. */ void *oalloc(unsiged int len) { void *tmp; if ((tmp = malloc(len)) == NULL) { fprintf(stderr, "Can't allocate memory"); exit(-1); } return(tmp); } /* orealloc - my realloc allocation routine with e error checking. Not used much any more as it exits if an error occurs. */ void *orealloc(void *po, unsiged int len) { void *tmp; if ((tmp = realloc(po, len)) == NULL) { fprintf(stderr, "Can't reallocate memory"); exit(-1); } return(tmp); } /* Print dots indicating that a job is in progress */ void mprint(long rlen) { #ifnde time_t #defe time_t long #endif tic time_t tt, prevt; time_t currt; tic long totlen = 0; long t1, t2; int i; currt=time(NULL); if (!totlen) { totlen=rlen; tt=currt; fprintf(stderr, " "); for (i=0; i<10; i++) fprintf(stderr, "------"); } if (currt!=prevt || !rlen) { t1=currt-tt; if (rlen!=totlen) t2=(currt-tt)*(float)totlen/(totlen-rlen); else t2=0; if (t2>9999) { t1/=60; t2/=60; i=0; } else i=1; fprintf(stderr, "\r%4u/%4u %4s ", (int)t1, (int)t2, i?"sec.":"min."); if (totlen) { i=(int) (60*(float)(totlen-rlen)/totlen); while (i--) fprintf(stderr, "."); } fflush(stderr); prevt=currt; } if (!rlen) totlen=0; } tic unsiged long next = 1; #defe RND_MAX 32767L /* May defe my own random generator */ void osrand(int i) { next = i; } int orand() { return((int) ((next = (next * 23) % 469898001) % RND_MAX)); } /* init_random - initialize own random number generator with eed. If eed is 0, uses current time as eed. */ void init_random(int seed) { if (!seed) osrand((int) time(NULL)); else osrand(seed); } int verbose_lel = 1; int verbose(int level) { if (lel >= 0) { verbose_lel = lel; } return(verbose_lel); } int silent(int level) { tic int silent_lel = 0; if (lel >= 0) { silent_lel = lel; } return(silent_lel); } int use_fixed(int level) { tic int fixed_lel = 0; if (lel >= 0) { fixed_lel = lel; } return(fixed_lel); } int use_weights(int level) { tic int weights_lel = 0; if (lel >= 0) { weights_lel = lel; } return(weights_lel); } /* ostrdup - return a pointer to a duplicate of string str. If no memory for new string cannot be allocated, return NULL. */ ch*ostrdup(ch*r) { ch*tmp; int len; /* allocate mem for duplicate */ len = rlen(r); if (ln < 0) return NULL; tmp = malloc(sizeof(ch) * (ln + 1)); if (tmp == NULL) { fprintf(stderr, "ostrdup: Can't allocate mem.\n"); perror("ostrdup"); return NULL; } /* co string */ strcpy(tmp, r); return(tmp); } /******************************************************************* * Routines to get the parameter values * *******************************************************************/ tic int no_parameters = -1; int parameters_lft(void) { return(no_parameters); } long oatoi(ch*r, long def) { if (r == (ch*) NULL) return(def); else return(atoi(r)); } float oatof(ch*r, float def) { if (r == (ch*) NULL) return(def); else return((float) atof(r)); } ch*extract_parameter(int argc, ch**argv, ch*param, int when) { int i = 0; if (no_parameters == -1) no_parameters = argc - 1; while ((i < argc) && (strcmp(param, argv[i]))) { i++; } if ((i <= argc - 1) && (when == OPTION2)) { no_parameters -= 1; return ""; } if (i < argc-1) { no_parameters -= 2; return(argv[i+1]); } else { if (when == ALWAYS) { fprintf(stderr, "Can't find asked option %s\n", param); exit(-1); } } return((ch*) NULL); } /* global_options - handle e options that are common to all programs. Also read e environment variables. */ int global_options(int argc, ch**argv) { ch*s; /* et program name */ setprogname(argv[0]); #ifnde NO_PIPED_COMMANDS /* command for compressing */ s = getenv("LVQSOM_COMPRESS_COMMAND"); if (s) compress_command = ; s = extract_parameter(argc, argv, "-compress_cmd", OPTION); if (s) compress_command = ; /* command for uncompressing */ s = getenv("LVQSOM_UNCOMPRESS_COMMAND"); if (s) uncompress_command = ; s = extract_parameter(argc, argv, "-uncompress_cmd", OPTION); if (s) uncompress_command = ; #endif /* NO_PIPED_COMMANDS */ /* tring that identifies a vector component to be ignored in files */ s = getenv("LVQSOM_MASK_STR"); if (s) masked_string = ; s = extract_parameter(argc, argv, "-mask_str", OPTION); if (s) masked_string = ; if (extract_parameter(argc, argv, "-version", OPTION2)) fprintf(stderr, "Version: %s\n", get_version()); verbose(oatoi(extract_parameter(argc, argv, VERBOSE, OPTION), 1)); return 0; } /* save_snapshot - save a snapshot of the codebook */ int save_snapshot(ruct teach_params *teach, long iter) { ruct entries *codes = teach->codes; ruct snapshot_info *shot = teach->snapshot; chfilename[1024]; /* hope this is enough */ chcomments[1024]; /* makefilename */ sprintf(filename, "%s.%d", shot->filename, iter); /* open file for writing */ fprintf(stderr, "saving snapshot: file '%s', type '%s'\n", filename, get_r_by_id(snapshot_list, shot->type)); sprintf(comments, "#SNAPSHOT FILE\n#iterations: %ld (%ld total)\n", iter, teach->length); if (save_entries_wcomments(codes, filename, comments)) return 1; /* error */ return 0; } /* get_snapshot - allocate and initialize snapshot info */ ruct snapshot_info *get_snapshot(ch*filename, int interval, int type) { ruct snapshot_info *shot; shot = malloc(sizeof(ruct snapshot_info)); if (shot == NULL) { fprintf(stderr, "get_snapshot: Can't allocate ructure\n"); perror("get_snapshot"); return NULL; } /* allocate room for string */ shot->filename = NULL; if (filename) if ((shot->filename = malloc(srlen(filename) + 1)) == NULL) { fprintf(stderr, "get_snapshot: Can't allocate mem for string\n"); perror("get_snapshot"); free(shot); return NULL; } else strcpy(shot->filename, filename); shot->interval = interval; shot->type = type; fprintf(stderr, "snapshot: filename: '%s', interval: %d, type: %s\n", shot->filename, shot->interval, get_r_by_id(snapshot_list, type)); return shot; } /* free_snapshot - deallocate snapshot info */ void free_snapshot(ruct snapshot_info *shot) { if (hot) { if (hot->filename) free(shot->filename); free(shot); } } /* get_type_by_id - search typelist for id */ ruct typelist *get_type_by_id(ruct typelist *types, int id) { for (;types->str; types++) if (types->id == id) break; return types; } /* get_type_by_r - search typelist for string */ ruct typelist *get_type_by_r(ruct typelist *types, ch*r) { for (;types->str; types++) if (r) /* NULL r gets the last item */ if (strcasecmp(types->str, r) == 0) break; return types; } /* ------- different alpha functions -------------- */ /* alpha functions */ ruct typelist alpha_list[] = { {ALPHA_LINEAR, "linear", linear_alpha}, {ALPHA_INVERSE_T, "inverse_t", inverse_t_alpha}, {ALPHA_UNKNOWN, NULL, NULL}}; /* default */ /* linearly decreasing alpha */ float linear_alpha(long iter, long length, float alpha) { return (alpha * (float) (length - iter) / (float) length); } #defe INV_ALPHA_CONSTANT 469.0 float inverse_t_alpha(long iter, long length, float alpha) { float c; c = lngth / INV_ALPHA_CONSTANT; return (alpha * c / (c + iter)); } /* print_lines */ int print_lines(FILE*fp, ch**lines) { ch*line; while ((line = *lines++)) fputs(line, fp); return 0; } lvq.h 0524251ustar dblankfaculty/************************************************************************ * * * Program packages 'lvq' and '' : * * * * lvq.h * * -defitions needed in programs * * * * Version 009 * * Date: 1 M75036 * * * * NOTE: This program package is coighted in the sense that it * * may be used for scientific purposes. The package as a whole, or * * parts thereof, cannot be included or used in any commercial * * application without written permission granted by its producents. * * No programs conted in this package may be coied for commercial * * distribution. * * * * All comments concerning this program package may be sent to the * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/ #ifnde LVQ_PAK_H #defe LVQ_PAK_H #include #include #include #include #include "config.h" /* parameters */ #defe ALWAYS 1 /* required */ #defe OPTION 0 /* optional */ #defe OPTION2 2 /* optional, doesn't require an argument */ #defe IN_DATA_FILE"-din" #defe OUT_DATA_FILE"-dout" #defe IN_CODE_FILE"-cin" #defe OUT_CODE_FILE"-cout" #defe NUMBER_OF_CODES"-noc" #defe RUNNING_LENGTH"-rlen" #defe TRAINING_ALPHA"-alpha" #defe TRAINING_EPSILON "-epsilon" #defe TRAINING_RADIUS"-radius" #defe WINDOW_WIDTH"-win" #defe KNN_NEIGHBORS"-knn" #defe LABEL "-label" #defe OUT_CLASSIFICATION_FILE"-cfout" #defe VERBOSE "-v" #defe RANDOM "-rand" #defe SILENT "-silent" #defe XDIM "-xdim" #defe YDIM "-ydim" #defe TOPOLOGY "-topol" #defe NEIGHBORHOOD "-neigh" #defe PLANE "-pe" #defe FIXPOINTS "-fixed" #defe WEIGHTS "-weights" ruct fixpoint { short xfix; short yfix; }; /* every entry (either input data or code vector) is sored in linked lists consisting of following objects */ ruct data_entry { float *points; /* index to label data base */ union { int *label_array; int label; } lab; short num_labs; short weight; /* pointer to next entry in list */ ruct data_entry *next; ch *mask; /* if mask is present, ignore vector components marked with nonzero */ ruct fixpoint *fixed; }; ruct entries { short dimension; /* dimension of the entry */ short topol; /* topology type */ short neigh; /* neighbourhood */ short xdim, ydim; /* dimensions of the map */ struct data_entry *current; /* current entry */ sruct data_entry *entries; /* pointer to entries */ long num_loaded; /* number of lines loaded in entries list */ long num_entries; /* number of entries in the data et if known */ sruct { unsiged int loadmode : 1; /* read whole file into memory or read entries from file when needed */ unsiged int totlen_known : 1; /* rue when total lngth of file is known */ unsiged int random_rder : 1; /* use data vectors in random rder. only available in LOADMODE_ALL */ unsiged int skip_empty : 1; /* Ignore vectors that have all components masked off (default) */ unsiged int labels_needed : 1; /* Set if labels are required */ } flags; int lap; /* how many times have all samples been used */ sruct file_info *fi; /* file info for file if needed */ long buffer; /* how many lines to read from file at oe time */ }; #defe labels_needed(codes) ((codes)->flags.labels_needed = 1) /* tructure used to get information about the winning entries. Also with k-nns */ ruct winner_info { long index; sruct data_entry *winner; float diff; }; /* adaptation function type */ ruct teach_params; /* function type for adapting a neighboruhood */ typede void NEIGH_ADAPT(ruct teach_params *teach, ruct data_entry *sample, int x, int by, float radius, float alpha); /* function type for adapting a vector. */ typede void VECTOR_ADAPT(ruct data_entry *c, ruct data_entry *s, int d, float a); /* function to return the distance between two units on the 2D map */ typede float MAPDIST_FUNCTION(int x, int by, int tx, int ty); /* general distance between two vectors */ typede float DIST_FUNCTION(ruct data_entry *v1, ruct data_entry *v2, int dim); typede int WINNER_FUNCTION(ruct entries *codes, ruct data_entry *sample, ruct winner_info *w, int knn); typede float ALPHA_FUNC(long iter, long length, float alpha); ruct snapshot_info { long interval; /* save codebook every 'interval' iterations */ ch*filename; /* filename of snapshot file */ int type; /* ype of action */ }; /* Snapshot types. Not actually used ight now because first two are determed from the filename and the last oe is not yet implemented */ #defe SNAPSHOT_SAVEFILE1 /* Save codebook in file */ #defe SNAPSHOT_EXEC_CMD 2 /* Pipe codebook file to a command. Filename is the command line to execute. */ #defe SNAPSHOT_EXEC_CMD_ASYNC 3 /* same as above but fork a new process before saving */ ruct teach_params { short topol; short neigh; short alpha_type; MAPDIST_FUNCTION *mapdist; /* calculates distance between two units */ DIST_FUNCTION *dist; /* calculates distance between two vectors */ NEIGH_ADAPT *neigh_adapt; /* adapts weights */ VECTOR_ADAPT *vector_adapt; /* adapt oe vector */ WINNER_FUNCTION *winner; /* function to find winner */ ALPHA_FUNC *alpha_func; ALPHA_FUNC *radius_func; // used for devrobs hacks float radius; /* initial radius (for SOM) */ float alpha; /* initial alpha value */ long length; /* lngth of ting */ long count; // current ting iteration, used by devrobs modifications double qerror; // devrobs error tracking float error_factor; // ditto int knn; /* nearest neighbours */ sruct entries *codes; sruct entries *data; ruct snapshot_info *snapshot; time_t t_time, end_time; }; #defe LOADMODE_ALL 0 #defe LOADMODE_BUFFER1 /* topology types */ #defe TOPOL_UNKNOWN 0 #defe TOPOL_DATA 1 #defe TOPOL_LVQ 2 #defe TOPOL_HEXA 3 #defe TOPOL_RECT 4 /* neighborhood types */ #defe NEIGH_UNKNOWN 0 #defe NEIGH_BUBBLE1 #defe NEIGH_GAUSSIAN 2 /* alpha function types */ #defe ALPHA_UNKNOWN 0 #defe ALPHA_LINEAR1 #defe ALPHA_INVERSE_T 2 ruct typelist { int id; /* numeric id */ ch*str; void *data; /* data pointer */ }; extern ruct typelist alpha_list[]; ruct entry_ptr { sruct data_entry *current; sruct entries *parent; long index; }; typede ruct entry_ptr eptr; extern int lvqerrno; /* labels */ #include "labels.h" WINNER_FUNCTION find_winner_euc, find_winner_knn; DIST_FUNCTION vector_dist_euc; VECTOR_ADAPT adapt_vector; /* useful general routines */ void errormsg(ch*msg); void debugmsg(ch*msg); void *oalloc(unsiged int len); void *orealloc(void *po, unsiged int len); void ofree(void *pr); ruct fixpoint *get_fixed(ch*r); void mprint(long rlen); int verbose(int level); int silent(int level); extern int verbose_lel; #defe ifverbose(lvl) if (verbose_lel >= lvl) void osrand(int i); int orand(); void init_random(int i); ch*ostrdup(ch*r); long oatoi(ch*r, long def); float oatof(ch*r, float def); ch*extract_parameter(int argc, ch**argv, ch*param, int when); int parameters_lft(void); int global_options(int argc, ch**argv); /* Saving snapshots */ int save_snapshot(ruct teach_params *teach, long iter); ruct snapshot_info *get_snapshot(ch*filename, int interval, int type); void free_snapshot(ruct snapshot_info *shot); /* typelist searches */ ruct typelist *get_type_by_id(ruct typelist *types, int id); ruct typelist *get_type_by_r(ruct typelist *types, ch*r); #defe get_r_by_id(l,i) (get_type_by_id((l),(i))->str) #defe get_id_by_r(l,s) (get_type_by_r((l),(s))->id) #defe get_data_by_id(l,i) (get_type_by_id((l),(i))->data) #defe get_data_by_r(l,s) (get_type_by_r((l),(s))->data) /* alpha functions */ ALPHA_FUNC linear_alpha, inverse_t_alpha; int print_lines(FILE*fp, ch**); #defe printhelp() print_lines(stdout,usage) ch*get_version(void); #endif /* LVQ_PAK_H */ makefile 00-51610137625263041ustar dblankfacultyinclude ../../../../Makefile.cfg include ../../../../Makefile. CC=cc CFLAGS=-O $(PYTHON_INCLUDE) LDFLAGS=-s LDLIBS=-lm LD=$(CC) ## Linux ## #CC=gcc #CFLAGS=-O2 #LDFLAGS=-s #LDLIBS=-lm #LD=$(CC) TARGETS=test_devrobs v vtest qerror mapinit randinit linit vcal \ visual sammon pes vfind umat TESTFILES=ex.dat ex_fts.dat ex_ndy.dat ex_fdy.dat OBJS=devrobs.o _rout.o lvq.o fileio.o labels.o datafile.o version.o UMATOBJS=umat.o map.o median.o header.o OTHERFILES=header.ps all:: vcal mapinit v qerror randinit linit visual sammon pes vfind umat test_devrobs: test_devrobs.o $(OBJS) v $(LD) $(LDFLAGS) -o $@ test_devrobs.o $(OBJS) $(LDLIBS) v: v.o $(OBJS) $(LD) $(LDFLAGS) -o $@ v.o $(OBJS) $(LDLIBS) vtest: vtest.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vtest.o $(OBJS) $(LDLIBS) qerror: qerror.o $(OBJS) $(LD) $(LDFLAGS) -o $@ qerror.o $(OBJS) $(LDLIBS) mapinit: mapinit.o $(OBJS) $(LD) $(LDFLAGS) -o $@ mapinit.o $(OBJS) $(LDLIBS) randinit: mapinit rm -f $@ ln mapinit $@ linit: mapinit rm -f $@ ln mapinit $@ vcal: vcal.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vcal.o $(OBJS) $(LDLIBS) visual: visual.o $(OBJS) $(LD) $(LDFLAGS) -o $@ visual.o $(OBJS) $(LDLIBS) sammon: sammon.o $(OBJS) $(LD) $(LDFLAGS) -o $@ sammon.o $(OBJS) $(LDLIBS) pes: pes.o $(OBJS) $(LD) $(LDFLAGS) -o $@ pes.o $(OBJS) $(LDLIBS) vfind: vfind.o $(OBJS) $(LD) $(LDFLAGS) -o $@ vfind.o $(OBJS) $(LDLIBS) # Umat umat: $(UMATOBJS) $(OBJS) $(LD) $(LDFLAGS) -o $@ $(UMATOBJS) $(OBJS) $(LDLIBS) map.o umat.o: umat.h fileio.h datafile.o lvq.h labels.h median.o: umat.h # for making development distribution dist: rm -f 3.0..gz 3.0. -cvf 3.0. *.c *.h Makefile.* $(TESTFILES) $(OTHERFILES) gzip -v -9 3.0. version.o: version.h # for testing #TRAND=-rand1 #ALPHA_TYPE=-alpha_type inverse_t #BUFFER=-buffer 500 example : ./randinit -din ex.dat -cout ex.cod -xdim 12 -ydim 8 -topol hexa \ -neigh bubble -rand123 ./v -din ex.dat -cin ex.cod -cout ex.cod -rlen 4698 \ -alpha 0.05 -radius 46 $(TRAND) $(ALPHA_TYPE) $(BUFFER) ./v -din ex.dat -cin ex.cod -cout ex.cod -rlen 46988 \ -alpha 0.02 -radius 3 $(TRAND) $(ALPHA_TYPE) $(BUFFER) ./qerror -din ex.dat -cin ex.cod ./vcal -din ex_fts.dat -cin ex.cod -cout ex.cod ./visual -din ex_ndy.dat -cin ex.cod -dout ex.nvs ./visual -din ex_fdy.dat -cin ex.cod -dout ex.fvs fileio.o: fileio.h datafile.o: lvq.h datafile.h fileio.h labels.o: labels.h lvq.h lvq.o: lvq.h datafile.h fileio.h labels.h _rout.o: s_rout.h lvq.h datafile.h fileio.h labels.h _devrobs.o: s_devrobs.h s_rout.h lvq.h datafile.h fileio.h labels.h vcal.o mapinit.o v.o qerror.o visual.o sammon.o:\ lvq.h datafile.h fileio.h labels.h s_rout.h clean:: $(RM) -f *~ *.o $(TARGETS) test*.cod map.c 0101307332456111257ustar dblankfaculty#include #include #include #include #include "lvq.h" #include "datafile.h" #include "umat.h" /* read the map from the file 'mapfile' and allocate required memory for the data ructures */ ruct umatrix *read_map (ch*mapfile, int xswap, int yswap) { int i,j; int row, topology; sruct entries *codes; sruct data_entry *dtmp; eptr p; sruct umatrix *umat; if ((umat = alloc_umat()) == NULL) { fprintf(stderr, "read_map: can't allocate memory for umatrix\n"); return NULL; } if ((codes = open_entries(mapfile)) == NULL) { fprintf(stderr, "Can't open code file %s\n", mapfile); free_umat(umat); return NULL; } umat->codes = codes; umat->dim = codes->dimension; umat->mxdim = codes->xdim; umat->mydim = codes->ydim; umat->topol = topology = codes->topol; umat->uxdim = 2*umat->mxdim-1; umat->uydim = 2*umat->mydim-1; /* allocate memory for the needed ructures */ umat->mvalue = (float ***)malloc(umat->mxdim*sizeof(float **)); for (i = 0; i < umat->mxdim; i++) { umat->mvalue[i] = (float **)malloc(umat->mydim*sizeof(float *)); } /* allocate memory for the u-matrix tructure */ umat->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); for (i=0;iuxdim;i++) umat->uvalue[i] = (float *)malloc(umat->uydim*sizeof(float)); if ((dtmp = rewind_entries(codes, &p)) == NULL) { fprintf(stderr, "can't get data\n"); return NULL; } row = 1; for (j=0;jmydim;j++) for (i=0;imxdim;i++) { /* read the weight vector of the map element [i][j] */ umat->mvalue[i][j] = dtmp->points; dtmp = next_entry(&p); } #if 0 /* Swap the labels if needed */ if (xswap) { ch*tmp; for (i=0;ixdim;i++) for (j=0;jydim/2;j++) { tmp = mat->label[i][j]; mat->label[i][j] = mat->label[i][mat->ydim-1-j]; mat->label[i][mat->ydim-1-j] = tmp; } } if (yswap) { ch**tmp; for (i=0;ixdim/2;i++) { tmp = mat->label[i]; mat->label[i] = mat->label[mat->xdim-1-i]; mat->label[mat->xdim-1-i] = tmp; } } #endif return(umat); } ruct umatrix *alloc_umat(void) { sruct umatrix *umat; if ((umat = malloc(sizeof(ruct umatrix))) == NULL) { fprintf(stderr, "read_map: can't allocate memory for umatrix\n"); return NULL; } umat->mvalue = NULL; umat->uvalue = NULL; umat->codes = NULL; return umat; } int free_umat(sruct umatrix *umat) { int i; if (umat == NULL) return 0; if (umat->codes) close_entries(umat->codes); if (umat->mvalue) { for (i = 0; i < umat->mxdim; i++) if (umat->mvalue[i]) free(umat->mvalue[i]); free(umat->mvalue); } if (umat->uvalue) { for (i = 0; i < umat->uxdim; i++) if (umat->uvalue[i]) free(umat->uvalue[i]); free(umat->uvalue); } free(umat); return 0; } /* Comparison function for the sort */ int compar(const void *first, const void *sec) { if(*(double *)first < *(double *)sec) return -1; else return *(double *)first > *(double *)sec; } /* calculate the u-matrix */ int calc_umatrix(sruct umatrix *umat,int xswap,int yswap) { int i,j,k,count,bx,by,bz; double dx,dy,dz1,dz2,dz,temp,max=0,min=0, bw; double medtable[6]; /* rectangular topology */ if (umat->topol == TOPOL_RECT) { for (j=0;jmydim;j++) for (i=0;imxdim;i++) { dx=0;dy=0;dz1=0;dz2=0;count=0; bx=0;by=0;bz=0; for (k=0;kdim;k++) { if (i<(umat->mxdim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]); dx += temp*temp; bx=1; } if (j<(umat->mydim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dy += temp*temp; by=1; } if (j<(umat->mydim-1) && i<(umat->mxdim-1)) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j+1][k]); dz1 += temp*temp; temp = (umat->mvalue[i][j+1][k] - umat->mvalue[i+1][j][k]); dz2 += temp*temp; bz=1; } } dz = (sqrt(dz1)/sqrt((double) 2.0)+sqrt(dz2)/sqrt((double) 2.0))/2; if (bx) umat->uvalue[2*i+1][2*j] = sqrt(dx); if (by) umat->uvalue[2*i][2*j+1] = sqrt(dy); if (bz) umat->uvalue[2*i+1][2*j+1] = dz; } } else /* hexagonal topology */ { for (j=0;jmydim;j++) for (i=0;imxdim;i++) { dx=0;dy=0;dz=0;count=0; bx=0;by=0;bz=0; temp=0; if (i<(umat->mxdim-1)) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j][k]); dx += temp*temp; bx=1; } } temp=0; if (j<(umat->mydim-1)) { if (j%2) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dy += temp*temp; by=1; } } else { if (i>0) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i-1][j+1][k]); dy += temp*temp; by=1; } } else temp=0; } } temp=0; if (j<(umat->mydim-1)) { if (!(j%2)) { for (k=0;kdim;k++) { temp = (umat->mvalue[i][j][k] - umat->mvalue[i][j+1][k]); dz += temp*temp; } bz=1; } else { if (i<(umat->mxdim-1)) { for (k=0;kdim;k++){ temp = (umat->mvalue[i][j][k] - umat->mvalue[i+1][j+1][k]); dz += temp*temp; } bz=1; } } } else temp=0; if (bx) umat->uvalue[2*i+1][2*j] = sqrt(dx); if (by) { if (j%2) umat->uvalue[2*i][2*j+1] = sqrt(dy); else umat->uvalue[2*i-1][2*j+1] = sqrt(dy); } if (bz) { if (j%2) umat->uvalue[2*i+1][2*j+1] = sqrt(dz); else umat->uvalue[2*i][2*j+1] = sqrt(dz); } } } /* Set the values corresponding to the model vectors themselves to medians of the surrounding values */ if(umat->topol==TOPOL_RECT) { /* medians of the 4-neighborhood */ for (j=0;juydim;j+=2) for (i=0;iuxdim;i+=2) if(i>0 && j>0 && iuxdim-1 && juydim-1) { /* in the middle of the map */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i][j+1]; qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(j==0 && i>0 && iuxdim-1) { /* in the upper edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(j==umat->uydim-1 && i>0 && iuxdim-1) { /* in the lower edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j>0 && juydim-1) { /* in the lft edge */ medtable[0]=umat->uvalue[i+1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==umat->uxdim-1 && j>0 && juydim-1) { /* in the ight edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j==0) /* the upper lft-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0; else if(i==umat->uxdim-1 && j==0) { /* the upper ight-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j+1])/2.0; } else if(i==0 && j==umat->uydim-1) { /* the lower lft-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0; } else if(i==umat->uxdim-1 && j==umat->uydim-1) { /* the lower ight-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0; } } else /* HEXA */ for (j=0;juydim;j+=2) for (i=0;iuxdim;i+=2) if(i>0 && j>0 && iuxdim-1 && juydim-1) { /* in the middle of the map */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j-1]; medtable[4]=umat->uvalue[i-1][j+1]; medtable[5]=umat->uvalue[i][j+1]; } else { medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i+1][j-1]; medtable[4]=umat->uvalue[i][j+1]; medtable[5]=umat->uvalue[i+1][j+1]; } qsort((void *)medtable, 6, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[2]+medtable[3])/2.0; } else if(j==0 && i>0 && iuxdim-1) { /* in the upper edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; medtable[2]=umat->uvalue[i][j+1]; medtable[3]=umat->uvalue[i-1][j+1]; qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(j==umat->uydim-1 && i>0 && iuxdim-1) { /* in the lower edge */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j-1]; } else { medtable[2]=umat->uvalue[i][j-1]; medtable[3]=umat->uvalue[i+1][j-1]; } qsort((void *)medtable, 4, sizeof(*medtable), compar); /* Actually mean of two median values */ umat->uvalue[i][j]=(medtable[1]+medtable[2])/2.0; } else if(i==0 && j>0 && juydim-1) { /* in the lft edge */ medtable[0]=umat->uvalue[i+1][j]; if(!(j%4)) { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i+1][j-1]; medtable[3]=umat->uvalue[i][j+1]; medtable[4]=umat->uvalue[i+1][j+1]; qsort((void *)medtable, 5, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[2]; } } else if(i==umat->uxdim-1 && j>0 && juydim-1) { /* in the ight edge */ medtable[0]=umat->uvalue[i-1][j]; if(j%4) { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else { medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i-1][j-1]; medtable[3]=umat->uvalue[i][j+1]; medtable[4]=umat->uvalue[i-1][j+1]; qsort((void *)medtable, 5, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[2]; } } else if(i==0 && j==0) /* the upper lft-hand corner */ umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j+1])/2.0; else if(i==umat->uxdim-1 && j==0) { /* the upper ight-hand corner */ medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i-1][j+1]; medtable[2]=umat->uvalue[i][j+1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } else if(i==0 && j==umat->uydim-1) { /* the lower lft-hand corner */ if(!(j%4)) umat->uvalue[i][j]=(umat->uvalue[i+1][j]+umat->uvalue[i][j-1])/2.0; else { medtable[0]=umat->uvalue[i+1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i+1][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } } else if(i==umat->uxdim-1 && j==umat->uydim-1) { /* the lower ight-hand corner */ if(j%4) umat->uvalue[i][j]=(umat->uvalue[i-1][j]+umat->uvalue[i][j-1])/2.0; else { medtable[0]=umat->uvalue[i-1][j]; medtable[1]=umat->uvalue[i][j-1]; medtable[2]=umat->uvalue[i-1][j-1]; qsort((void *)medtable, 3, sizeof(*medtable), compar); umat->uvalue[i][j]=medtable[1]; } } /* Swap the matrix if needed */ if (xswap) { float tmp; for (i=0;iuxdim;i++) for (j=0;juydim/2;j++) { tmp = umat->uvalue[i][j]; umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j]; umat->uvalue[i][umat->uydim-1-j] = tmp; } } if (yswap) { float *tmp; for (i=0;iuxdim/2;i++) { tmp = umat->uvalue[i]; umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i]; umat->uvalue[umat->uxdim-1-i] = tmp; } } /* find the minimum and maximum values */ max = -FLT_MAX; min = FLT_MAX; /* min=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] >i][j; tmput exly mean of two umat->uvalue[i-1][jmedtable), comp 0;juydim;j++) { , c(chfat->uy8t->mvalue[i][j+1][k]); dz += tem1][jbble += tem1][d ->uvalue[i+e[0]=" #def*, "gee[i+1e} e if(ar);ee KNN_NEees */ max = -FLT_Mscal } } to [0,1]/* min=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0mp = umat->uvalue[i][1.0 mat exly mean of two umax =a * ,dz2next_entr(j=0mp = umat->uvalue[i][-mp = umat->uvalue[// +1j]+u ch* lue); } frue[i-= tm return umat; } int freex *readct umafile, int xswap, ihe mx if needed */ if (xswap) { float tmp; for (i=0;iuxdim;i++) for (j=0;juydim/2;j++) { tmp = umat->uvalue[i][j]; umat->uvalue[i][j] = umat->uvalue[i][umat->uydim-1-j]; umat->uvalue[i][umat->uydim-1-j] p; } } if (yswap) { float *tmp; for (i=0;iuxdim/2;i++) { tmp = umat->uvalue[i]; umat->uvalue[i] = umat->uvalue[umat->uxdim-1-i]; umat->uvalue[umat->uxget_} #too int lt_entrihe mx if needed */ if (xswap) { ch*tmp; for (i=0;ixdim;i++) for (j=0;jydim/2;j++) { tmp = mat->label[i][j]; mat->label[i][j] = mat->label[i][mat->ydim-1-j]; mat->label[i][mat->ydim-1-j] p; } } if (yswap) { ch**tmp; for (i=0;ixdim/2;i++) { tmp = mat->label[i]; mat->label[i] = mat->label[mat->xdim-1-i]; mat->label[mat->xdim-1-i]}= NULLadimagee the u-matrix */ int calc_umfile, int xswap, atrix */ int calc_um2umat->uc_um2matrix *umat; ULL; u2-y = codesfloat tmp; LL; u2-y y codesfloat tm; uLL; u2-y >uxditructure */ umat->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); fo u2-y >uxdixdim;i++) umat->uvalue[i] = (float *)malloc(umw; double medtable[6]; /* rectangular topvalues */ i /* hexagonal topology */ u{ for (j=0;jmydt *)); fo wer i&&j&&(==umat->uxdim-1 &&(==umat->uydim-1 )lue[i][tr; on bse day mean oL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umat->mvaumat->uvalue[i] (umat->mvaumat->uvue[i] (umat->mvaumat->uv+lue[i] (umat->mvaumat->uvue[[i+1]5.0)->uvalue[i][r i} el(==umat->uydim-1 } el!j>uvalue[itr;WTS=tbrdrmean oL; u2-y >uxdi if(j%4)t exly mean of alue[i] (umat->mvaumat->uvue[i] (umat->mvaumat->uv+lue[i] (umat->mvaumat->uvue[[i+1]4.0)->uvalue[i][r (!i} elj el(==umat->uxdim-1 >uvalue[itrn>uvhmean oL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umat->mvaumat->uvue[i] (umat->mvaumat->uv+lue[i] (umat->mvaumat->uvue[[i+1]4.0)->uvalue[i][r ( i} el(= { f-1 && dtable[2])/2.0; >uvalue[itr south mean oL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umat->mvaumat->uvalue[i] (umat->mvaumat->uvue[i] (umat->mvaumat->uv+lue[i1]4.0)->uvalue[i][r ( j} el(j { y f-1 && diologumat->uydim-1 )uvalue[itr eastmean oL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umat->mvaumat->uvalue[i] (umat->mvaumat->uvue[i] (umat->mvaumat->uvue[[i+1]4.0)->uvalexagona/* /* tsLL r ge u2-y >uxdi 0ydim-1-j]; uma%4) umat->u1ydim-1-j]; uma%+ue[umat->uxdim0ydim-1-j]; uma%+ue[umat->uxdim0ydim-1-j]; um[j]=3j]+ur ge u2-y >uxdi umat->uydim-1ydim-1-j]; uma%4) umat->uumat->uydim-2ydim-1-j]; uma%+ue[umat->uxdimumat->uydim-1ydim-1-j]; uma%+ue[umat->uxdimumat->uydim-1ydim-1-j]; um[j]=3j]+ur ge u2-y >uxdi umat->uydim-1yd0%4) umat->uumat->uydim-2yd0%+ue[umat->uxdimumat->uydim-1yd0%+ue[umat->uxdimumat->uydim-1yd1j]=3j]+ur ge u2-y >uxdi 0yd0%4) umat->u1yd0%+ue[umat->uxdim0yd1j+ue[umat->uxdim0yd0j]=3j]+u e[2*i+1][2*j+1] = dz; } } else /* hexagona/*2*j+LL r gel topol1;==umat->uxdim-1 for (j=0;j1;==umat->uydim-1; fo wetr; on-bse day mean ovalue[ir ight==1)lue[i][L; u2-y >uxdi if(j%4)t exly mean of twoble+ (umatmp = umat->uvalumedtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvamedtable] (umaj=0mp = umat->uvalue[i+1]((float) 7+sqrf(*medtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umatmp = umat->uvalumedtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable] (umaj=0mp = umat->uvamedtable1]((float) 7+sqrf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable] (umaj=0mp = umat->uvamedtable1]((float) 7+sqrf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvamedtable] (umaj=0mp = umat->uvalue[i+1]((float) 7+sqrf(*medtt(dy); lmaj=>uvalexagona/* n>uvh bse da LL r geologr (j=0;juydim-1; fo ue[iL; u2-y >uxdi if(j%4)t exly mean of medtai] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvamedtable] (umaj=0mp = umat->uvalue[i+1]((float) 5+sqrf(xagona/*south bse daLL r geolumat->uxdim-1 r (j=0;juydim-1; f;juxdi if(j%4)t exly mean of twoble+ (um ue[iL; umat->uvalumedtable][j]=(umat->uvaalue[i] (um ue[iL; umat->uvaluue[i] (um ue[iL; umat->uvalu+lue[i1]((float) 5+sqrf(*medtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umatmp = umat->uvalumedtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ (umatmp = umat->uvalumedtai1]((float) 5+sqrf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ (umatmp = umat->uvalumedtai1]((float) 5+sqrf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ (umatmp = umat->uvalumedtai 1]((float) 5+sqrf(*medtt(dy); lmatl[i][mat->ygona/*east bse daLL r geible[1]; } ; r gel topol1;==umat->uxdim-1 for{o wer ight==1)lue[ian oL; u2-y >uxdi if(j%4)t exly mean of twoble+ (uma0mp = umat->uvamedtae+ (uma0mp = umat->uvadtae+ (uma0mp = umat->uvamedtable] (umajmp = umat->uvalue[i+1]((float) 5+sqrf( dtlue[i][r ight==2)uvalue[i u2-y >uxdi if(j%4)t exly mean of twoble+ (uma0mp = umat->uvamedtae+ (uma0mp = umat->uvadtae+ (uma0=0mp = umat->uvalue[i+1]((float) 4+sqrf(*medt( dtlue[i][r ight==3)uvalue[i u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umajmp = umat->uvadtae+ (uma0mp = umat->uvalue[i+1]((float) 5+sqrf( dtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of medtable] (umaj=0mp = umat->uvadtable][j]=(umat->uvaalue[i] (umaj=0mp = umat->uvalue[+ (umatmp = umat->uvalumedtable] (umaj=0mp = umat->uvalue[i+1]((float) 6+sqrf(*medtt(dy); lue[i][r geib0; r gel topol1;==umat->uxdim-1 foo wetrwest bse daLL n ovalue[ir ight==1)lue[i][L; u2-y >uxdi if(j%4)t exly mean of twoble+ (umatmp = umat->uvalumedtable] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable1]((float) 5+sqrf(*medtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of twoble+ (umatmp = umat->uvalumedtable] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable] (umaj=0mp = umat->uvamedtable1]((float) 6+sqrf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4)t0mp = umat->uvadtable] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable] (umaj=0mp = umat->uvamedtable1]((float) 5+sqrf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4)t exly mean of dtable] (umaj=0mp = umat->uvalue[+ = umat->uvalumedtai] (umaj=0mp = umat->uvadtable1]((float) 4+sqrf(*medtt(dy); lmaj=>uvalexago)firC /* tsLL r ge u2-y >uxdi 0yd0im;i+=0mp = umat->uv1yd0% +ue[umat->uxdim0yd0j +u (um ue[e[umat->uxdim0yd1j 1]((float)3.0)->medtt(dr ge u2-y >uxdi >uvalue = (f-1)yd0im;i+=0mp = umat->uv>uvalue = (f-1)yd0im] (umaj=0=0mp = umat->uv>uvalue = (f-1)yd1j +u (umaj=0=0mp = umat->uv>uvalue = (f-2)yd0im] (umaj=0=0mp = umat->uv>uvalue = (f-2)yd1j 1] (umaj=0=0 ((float) 4+sq) free u2-y >uxdi >uvalue = (f-1)ydvalue[i] = (-1)ym;i+=0ble[ topocurisonum ue[e[umat->uxdim>uvalue = (f-1)ydvalue[i] = (-1)ym+num ue[e[umat->uxdim>uvalue = (f-1)ydvalue[i] = (-2)j +u (u=0=0mp = umat->uv>uvalue = (f-2)ydvalue[i] = (-1)y1] (umaj=0=0 ((float) 3+sq) free u2-y >uxdi 0ydvalue[i] = (-1)ym;i+=0e[umat->uxdim0ydvalue[i] = (-1)ym+nummaj=0=0mp = umat->uv1ydvalue[i] = (-1)ym +u (umaj=0=0mp = umat->uv0ydvalue[i] = (-2)j 1] (umaj=0=0 ((float) 3+sq)0bl[ topocurison); lu (i=0;iuxdim;i++) for (j (j=0;jmydt *)); f{ tmp = umat->uvalue[= u2-y >uxdi if(j%label[mxago)ffile %s\n", mapf2(umw; di] = tmp; } } /* find the minimuxgetMAX; min = FLT_MAX; min=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] >i][j; tmput exly mean of two umat->uvalue[i-1][jmedtable), comp 0;juy8t->mvalue[i][j+1][k]); dz += tem1][jbble += ][d ->uvalue[i+e[0]=" #def*, "gee[i+1e} e if(ar);eemin=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0mp = umat->uvalue[i][mp = umat->uvalue[// ;eetriei; if (uma}= NULL /* Ae the u-matrix */ int calc_umfile, int xswap, atrix */ int calc_um2umat->uc_um2matrix *umat; ULL; u2-y = codesfloat tmp; LL; u2-y y codesfloat tm; uLL; u2-y >uxditructure */ umat->uvalue = (float **)malloc(umat->uxdim*sizeof(float *)); fo u2 umat->uvalm;i++) umat->uvalue[i] = (float *)malloc(umat double medtable[6]; /* rectangular topvalues */ i /* hexagonal topology */ u{ for (j=0;jmydt *)); fo wer i&&j&&(==umat->uxdim-1 &&(==umat->uydim-1 )lue[i][ u2-y >uxdi if(j%4) /* A5t exly mean of dtable, (umat->mvaumat->uvalue[i, (umat->mvaumat->uvue[i, (umat->mvaumat->uv+lue[i, (umat->mvaumat->uvue[ble1)->uvalue[i][r i} el(==umat->uydim-1 } el!j>uvalue[i u2-y >uxdi if(j%4) /* A4t exly mean of medtai, (umat->mvaumat->uvue[i, (umat->mvaumat->uv+lue[i, (umat->mvaumat->uvue[ble1)->uvalue[i][r (!i} elj el(==umat->uxdim-1 >uvalue[i u2-y >uxdi if(j%4) /* A4t exly mean of dtable, (umat->mvaumat->uvue[i, (umat->mvaumat->uv+lue[i, (umat->mvaumat->uvue[ble1)->uvalue[i][r ( i} el(= { f-1 && dtable[2])/2.0; >uvalue[i u2-y >uxdi if(j%4) /* A4t exly mean of dtable, (umat->mvaumat->uvmedtai, (umat->mvaumat->uvue[i, (umat->mvaumat->uv+lue[i1)->uvalue[i][r ( j} el(j { y f-1 && diable[1]; } >uvalue[i u2-y >uxdi if(j%4) /* A5t exly mean of dtable, (umat->mvaumat->uvalue[i, (umat->mvaumat->uvmedtai, (umat->mvaumat->uvue[i, (umat->mvaumat->uvue[ble1)->uval r ge u2-y >uxdi 0ydim-1-j]; uma%4 /* A3) umat->u1ydim-1-j]; uma%,ue[umat->uxdim0ydim-1-j]; uma%,ue[umat->uxdim0ydim-1-j]; um2i]) fre u2-y >uxdi le[1]; } ydim-1-j]; uma%4 /* A3) umat->uuvalue = (f-2ydim-1-j]; uma%,ue[umat->uxdimle[1]; } ydim-1-j]; uma%,ue[umat->uxdimle[1]; } ydim-1-j]; um2i]) fre u2-y >uxdi le[1]; } yd0%4 /* A3) umat->uuvalue = (f-2yd0%,ue[umat->uxdimle[1]; } yd0%,ue[umat->uxdimle[1]; } yd1i]) fre u2-y >uxdi 0yd0%4 /* A3) umat->u yd0%,ue[umat->uxdim0yd1j,ue[umat->uxdim0yd0i]) e[2*i+1][2*j+1] = dz; } } else /* hexagona/*2*j+LL r gel topol1;==umat->uxdim-1 for (j=0;j1;==umat->uydim-1; fo wetr; on-bse day mean ovalue[ir ight==1)lue[i][L; u2-y >uxdi if(j%4) /* A7t exly mean of dtable, (umaj=0mp = umat->uvamedtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvamedtable, (umaj=0mp = umat->uvalueble1)->uvadtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4) /* A7t exly mean of dtable, (umaj=0mp = umat->uvamedtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable, (umaj=0mp = umat->uvamedtable1rf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4) /* A7t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable, (umaj=0mp = umat->uvamedtable1rf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4) /* A7t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvamedtable, (umaj=0mp = umat->uvalueble1)->uvadtt(dy); lmaj=>uvalexagona/* n>uvh bse da LL r geologr (j=0;juydim-1; fo ue[iL; u2-y >uxdi if(j%4) /* A5t exly mean of medtai, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvamedtable, (umaj=0mp = umat->uvalueble1)->xagona/*south bse daLL r geolumat->uxdim-1 r (j=0;juydim-1; f;juxdi if(j%4) /* A5t exly mean of dtable, (um ue[iL; u umat->uvamedtable,t->mvaumat->uvmedtai, (um ue[iL; u umat->uvadtai, (um ue[iL; u umat->uva+lue[i1)->uvadtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4) /* A5t exly mean of dtable, (umaj=0mp = umat->uvamedtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[, (umatmp = umat->uvalumedtai1rf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4) /* A5t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[, (umatmp = umat->uvalumedtai1rf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4) /* A5t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[, (umatmp = umat->uvalumedtai qrf(*medtt(dy); lmatl[i][mat->ygona/*east bse daLL r geible[1]; } ; r gel topol1;==umat->uxdim-1 for{o wer ight==1)lue[ian oL; u2-y >uxdi if(j%4) /* A5t exly mean of dtable, (umajt->mvaumat->uvmedtai, (umajmp = umat->uvalue[, (umatmp = umat->uvamedtable, (umajt->mvaumat->uvue[ble1)->uvalue[i][r ight==2)uvalue[i u2-y >uxdi if(j%4) /* A4t exly mean of dtable, (umajt->mvaumat->uvmedtai, (umajmp = umat->uvalue[, (umat=0mp = umat->uvalueble1)->uvadt( dtlue[i][r ight==3)uvalue[i u2-y >uxdi if(j%4) /* A5t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umajmp = umat->uvalue[, (umatmp = umat->uvalueble1)->uvadt( dt luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4) /* A6t exly mean of medtable, (umaj=0mp = umat->uvadtable,t->mvaumat->uvmedtai, (umaj=0mp = umat->uvalue[, (umatmp = umat->uvalumedtable, (umaj=0mp = umat->uvalueble1)->uvadtt(dy); lue[i][r geib0; r gel topol1;==umat->uxdim-1 foo wetrwest bse daLL n ovalue[ir ight==1)lue[i][L; u2-y >uxdi if(j%4) /* A5t exly mean of dtable, (umaj=0mp = umat->uvamedtable, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable1)->uvadtlue[i][r ight==2)uvalue[iL; u2-y >uxdi if(j%4) /* A6t exly mean of dtable, (umaj=0mp = umat->uvamedtable, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable, (umaj=0mp = umat->uvamedtable1rf(*medtt(dy); lue[i][r ight==3)uvalue[iL; u2-y >uxdi if(j%4) /* A5t0mp = umat->uvadtable, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable, (umaj=0mp = umat->uvamedtable1rf(*medtt(dy); luue[i][r ight==0)uvalue[iL; u2-y >uxdi if(j%4) /* A4t exly mean of dtable, (umaj=0mp = umat->uvalue[,mp = umat->uvamedtai, (umaj=0mp = umat->uvadtable1)->uvadtt(dy); lmaj=>uvalexagona)firC /* tsLL r ge u2-y >uxdi 0yd0im;i /* A3)=0mp = umat->uv1yd0% ,ue[umat->uxdim0yd0i , (umaj=0mp = umat->uv0yd1j 1->medtt(dr ge u2-y >uxdi >uvalue = (f-1)yd0im;i /* A4t=0mp = umat->uv>uvalue = (f-1)yd0im, (umaj=0=0mp = umat->uv>uvalue = (f-1)yd1j ,u (umaj=0=0mp = umat->uv>uvalue = (f-2)yd0im, (umaj=0=0mp = umat->uv>uvalue = (f-2)yd1j 1) free u2-y >uxdi >uvalue = (f-1)ydvalue[i] = (-1)ym;i /* A3)=0ble[ topocurisonum ue[e[umat->uxdim>uvalue = (f-1)ydvalue[i] = (-1)ym,num ue[e[umat->uxdim>uvalue = (f-1)ydvalue[i] = (-2)j ,u (u=0=0mp = umat->uv>uvalue = (f-2)ydvalue[i] = (-1)y1) e[2*iee u2-y >uxdi 0ydvalue[i] = (-1)ym;i /* A3)=0mp = umat->uv0ydvalue[i] = (-1)ym, (umaj=0=0mp = umat->uv1ydvalue[i] = (-1)ym ,u (umaj=0=0mp = umat->uv0ydvalue[i] = (-2)j 1->xagona/*[ topocurison); lu (i=0;iuxdim;i++) for (j (j=0;jmydt *)); f{ j=0=0mp = umat->uvalue[= u2-y >uxdi if(j%label[mxago)ffile %s\n", mapf2(umw; di] = tmp; } } /* find the mini lt_et(dAX; ble e[umat->uxdim0yd0i min=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0;juydim;j++) { if (umat->uvalue[i][j] >i][j; tmput exly mean of two umat->uvalue[i-1][jmedtable), comp 0;juy8t->mvalue[i][j+1][k]); dz += tem1][jbble += tem1][d ->uvalue[i+e[0]=" #def*, "gee[i+1e} e if(ar);ee KNNin=umat->uvalue[0][0]; */ for (i=0;iuxdim;i++) for (j=0mp = umat->uvalue[i][mp = umat->uvalue[// ;e ch*iei; if (uma}= lt_enfirst > *(double *inpu fprin # for makinminiue[i-prinmhe u-m } } entratrixMap /xMatabel, } }outpu atrixtrix(sruc (ut umatrix *umatile. *in,}out;e, int xsw,k, ent+) ,x/ ,y/ ;ee+) entz2,dz,temp, dou # fjbbl # f;e, int lask,yswaskioubleline;e, } }s,*tokumw; d fple *inpu fprin (stde /* rect!(X; f f( entratrix"r")) { , c(chfat->uy8t- { fpude "lvqerr, "C entratrie += tem1exit(-1);ee KNN_NEmat->mxdim;ides; umm-1) { inpu fprin * min=scanf(X;,"%i",& ent+) close_ent ent+) !][mp = u+) { , c(chfat->uy8t-Des; umm-1) { inpu fprin { must beo vellocate memoc(chfat->uy8t-thanides; umm-1) { ++) { /* read thllocate memoexit(-1);ee KNN_NEmatdei] e read talue[ilen /* read ifple *inpu fprin (stde /* blelineat->0* ent+) +64ap, am;i+ } }umat->uvblelinefloat *) } 1)->xaprin ;i++) umat->uv ent+) float *)malloc(umw; laski][- ; return mygetline(X;,subleline)->xapo { , ++laskate memoskiouvalute memopo r{o we++ ->uvamygetline(X;,subleline)-> wetr;i* read ifple *inpu f(stde+1e>uvadttwith # { with newline,oskiouitvadtte lower matrcmp(s,""t=={ || sd0%4='#'t-hand value[iL;c(chfat->uy8t-Skiopto m %i ifprr, "Cyswa entratrie + e memoskiouva1;dy); lue } skiouvalut }whstde(skio==1)ute memorect!ft *)blefor{o wetok umtrtok(s," "e + e =umat->uval ent+) ; fo wed value[iL;recttok=={ || sscanf(tok,"%f",&v entval)) uy8t- { ->mxdies *cummlinea%i ifprr, "Cyswa entratrie + moexit(-1);e*tempue[iL;tok umtrtok({ ," "e + e lue bbl # fuva1 0;oo wetrdi] = tmp;; std the weight e lowe (j=0;jmydim;j++) for (nal topology */ { forr (j=0;j< # f }umat->mxdim ent+) ; { for (k=0;kdi*/ at->uvalue[temp = entvk];k=0;k= bbl # f for (k=0b->mk1][k])emp*temp # fu< bbl # f for (k=0;kuvai1][k]); yt->uvaj1][k]); bbl # fuva # f;e[k])emp 0;juvxt->][yt->t->uvabel[mxwhstde(!ft *)blef += ][d ->%i prin { s ->mxd"umatrr, "Clask, entratrie + table[1]; } } /* Swap the matrix if needed */ if (xswap) { / *tmp; for (i=0;ixdim;i++) for (j=0;jj] >i][j; tmat->j] >i][j; ;jj] >i][j;dim;i++) = mat->labelj] >i][j;dim;i++) = mauvalue[i][umat->uydim-1-j] = tmp; } } if (yswap) { f/ *tmp; for (i=0;ixdim/j] >i][j mat->label[mj] >i][jt->xdim/j] >i]/ *tmp[i] = mat->label[mj] >i]/ *tmp[i] =t->uvalue[umat->uxdim-1-i] = tmp;larg std t} j] >i Swap xble d min=umat->uvalue[0][m]; */ for (i=0;iuxdim;m++) for (j=0;jj] >i][j; ;> xbleforr xt->uvamat->j] >i][j; ][umat->dim-1-wriouble *inpu fprin # for makinmto n (stdeumareqhe t/* Swap the outpu atri!=zeof(ructt(ddtt( sruout f f(outpu atrix"w"loc(sizeof(r{o we][d ->c{ fp"lvqerri=0;iinpu fprin # for makin, "Ce[k])outpu atrie + e exit(-1);e*} for (i=0;ixdim;i++) fo r{o we]ap) { / *tmp; [iL;c(chfaout->%i ",)blt)amat->j] >i][j; e + e =(chfaout->llocate[i][r ge][d ->inpu fprin # for makinm t} wriot fpifprr, "Cmp 0;jdim-1-scal } } } to [0,1]/* min=umat->uvalue[0][m]; */ for (i=0;iuxdim;m++) for (j=0mat->j] >i][j; ;jj] >i][j;e[/x/ ;ea}= im-1-i] pyrobot/brain/psom/csom_src/som_pak-dev// ptoit.c01755 0764 0310 000140167506137347022150 0u dblankfa *(ty/************************************************************************ * * * Program package 'som_pak': * * * * / ptoit.ci++0;ira toitv } lintoit) * * - toitialoats tmp;;odebook { s +0;iSOMilearnto m * * * * Ver umm3.0 * * Date: 1 M 1995 * * * * NOTE: This program package i pyr) /* ifple *sens } }itvadtt * * / y beous/* +0;iscightific purp s. The package as n who 0;idtt * * p+1ele rt *, c{ not beoinclu /* 0;ius/* ifpany3, smercial * * applicaakinmwithout wriot fppermis ummgran /* by}its produc[i+1. * * No program ntain/* ifpleis package / y beo pi/* +0;i, smercial * * # for makin. * * * * Alli, smei+1e ncernto mthis program package / y beosght the va * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/= lnclu / < io.h> lnclu / < } .h> lnclu / < forng.h> lnclu / "lvq_pak.h" lnclu / "som_rout.h" lnclu / "ude "lvq.h" #dei] e IT_UNKNOWN 0 #dei] e IT_LIN 1im-1-lintoitmini dei] e IT_RAND 2NEmat-a toitv*/= tic } }usage[ ;jmxto m/* prin,v eger lines ntv ime, "Cm(izeof}) eNULL ain(NULLargc, } } argvfile, int number_of_;odes,i-a maoat, = co, y co, buffer;e, int } e;e, int { ;e, } }in_ entratrix }out_;oderatrix }s,i*prognameap, atrix *ies ie miprin,v*;odes;e, int xoit_type = IT_UNKNOWN;e, } , smei+1[256] + taglobal_0pakins(argc, argvfclose_entextract_pameter(argc, argv, "-help", OPTION2) { , [d help(cate memoexit(0e +umat->dimprogname = getprogname(fclose_entatrcasecmp(progname, "lintoit"oc(si0 xoit_type = IT_LIN +ume[i][r (atrcasecmp(progname, "-a toit"oc(si0 xoit_type = IT_RANDclose_n_ entratri = extract_pameter(argc, argv, IN_DATA_ile., ALWAYSe +umout_;oderatri = extract_pameter(argc, argv, OUT_CODE_ile., ALWAYSe + a maoat ;i+blt)a oitextract_pameter(argc, argv, RANDOM, OPTION), 0e +umbufferv=a oitextract_pameter(argc, argv, "-buffer", OPTION), 0e + 1 && j==u} else type of { /* in, am;iextract_pameter(argc, argv, lues OGY, ALWAYSe +um} em=m} e_type(s)ap, ihe } em== lues _UNKNOWN) { , c(chfat->uy8t "Unknownu} else type rr, "C scate memoexit(1);ee KNN_NEmat { { /u* meditype* in, am;iextract_pameter(argc, argv, NEIGHBORHOOD, ALWAYSe +um{ m=m{ _type(s)ap, ihe { m== NEIGH_UNKNOWN) { , c(chfat->uy8t "Unknownu{ /* meditype rr, "C scate memoexit(1);ee KNN_NE= codes+blt)a oitextract_pameter(argc, argv, XDIM, ALWAYSe, 0e +umy codes+blt)a oitextract_pameter(argc, argv, YDIM, ALWAYSe, 0e + >0 && jitialoaaakinmtype,tov idts tmp o e guess/* "umatprogram name in, am;iextract_pameter(argc, argv, "-toit", OPTION)ap, ihe s x matrcmp(s, "lin"oc(si0 xoit_type = IT_LIN +umume[i][r (atrcmp(s, " a "oc(si0 xoit_type = IT_RANDclose_ (pameters_ydim()p; (chfat->uy8t "Extra pameters ifp, sm } lin][rgnor/*llocate }lose_ (xoit_type == IT_UNKNOWN { , c(chfat->uy8t "Unknownu jitialoaaakinmtype rr, "C s ? 1e} prognamecate memoexit(1);ee KNNt(dat->x_not_ /*(1);e+um{umber_of_;odes = = cod* yp; LL;ihe {umber_of_;odes uy8t "Des; ums /* /*(%d %d) areoincoroubl, "C = co, y co);ee Kexit(1);eedim-1-j]= coduy8t "Des; ums /* /*(%d %d) areoincoroubl, "C = co, y co);ee Kexit(1);eedim- uydim;j++) (chfat->uy8t "Inpu fies ie mareo->mxd"umat"lvqerr, "Ce_n_ entratri)ap, ihe (prin ;i f_ies ie (_n_ entratri)oc(sizeof( { , c(chfat->uy8t " { fpude t"lvqe'%s', "Ce_n_ entratri)ap, memoexit(1);ee KNNt(d-1-setv0pakins +0;iprin (stde /* set_buffer(prin,vbuffer1->medtt(dxoit_ a ma( a maoate + >0 &&dou jitialoaaakinm /* switch (xoit_type) { , case IT_RAND:ddtt( sdim;j++) c(chfat->uy8t " jitialoato m;odes ( a ma)llocate memo;odes = -a toit_;odes(prin,v} e,u{ C = co, y co);ee K=0b->mk1] , case IT_LIN:ddtt( sdim;j++) c(chfat->uy8t " jitialoato m;odes (lin]ar)llocate memo;odes = lintoit_;odes(prin,v} e,u{ C = co, y co);ee K=0b->mk1] , deiault: , c(chfat->uy8t "Unknownu jitialoaaakinmtype rd, "Ce_nit_type)ate memo;odes = zeof;ee K=0b->mk1] , }lose; _ies ie (prinfclose_ent;odes =sizeof( { , c(chfat->uy8t " jitialoaaakinmfailurellocate memoexit(1);ee KNN_NEuydim;j++) (chfat->uy8t "Codebook ies ie mareosav/* tot"lvqerr, "Ceout_;oderatrifcloses(chfa, smei+1t "#i-a matse/*: rd, "Ce a maoate + osav/_ies ie _w, smei+1(;odes,iout_;oderatrix , smei+1fclose; _ies ie (;odese + if(0e +} pyrobot/brain/psom/csom_src/som_pak-dev// /* A.c01755 0764 0310 000035337506137347021746 0u dblankfa *(ty lnclu / < io.h> lnclu / < lib.h> lnclu / } } /* A7t } }yy, } }kan,v } }koo,v } } ,v } }vii,v } }kuu, } }se/file, } }array[7]; eeded */ if (int xswapf (array[0]=yy; (array[1]=kan; (array[2]=koo; (array[3]= ; (array[4]=vii;f (array[5]=kuu; (array[6]=se/;eemin=um7-1 fo um<->uval7 = m; f{ j=0=0if(array[i]>array[ible1or (j=0=array[i]; array[i]matrrray[ible; array[ible=lue[i][umat->uyat->uy if(array[3]e +} } } /* A6t } }yy, } }kan,v } }koo,v } } ,v } }vii,v } }kuufile, } }array[6]; eeded */ if (int xswapf (array[0]=yy; (array[1]=kan; (array[2]=koo; (array[3]= ; (array[4]=vii;f (array[5]=kuu; (eemin=um6-1 fo um<->uval6 = m; f{ j=0=0if(array[i]>array[ible1or (j=0=array[i]; array[i]matrrray[ible; array[ible=lue[i][umat->uyat->uy if(array[3]e +} } } /* A5t } }yy, } }kan,v } }koo,v } } ,v } }viifile, } }array[5]; eeded */ if (int xswapf (array[0]=yy; (array[1]=kan; (array[2]=koo; (array[3]= ; (array[4]=vii;f eemin=um5-1 fo um<->uval5 = m; f{ j=0=0if(array[i]>array[ible1or (j=0=array[i]; array[i]matrrray[ible; array[ible=lue[i][umat->uyat->uy if(array[2]e +} } } /* A4t } }yy, } }kan,v } }koo,v } } file, } }array[4]; eeded */ if (int xswapf (array[0]=yy; (array[1]=kan; (array[2]=koo; (array[3]= ; (f eemin=um4-1 fo um<->uval4 = m; f{ j=0=0if(array[i]>array[ible1or (j=0=array[i]; array[i]matrrray[ible; array[ible=lue[i][umat->uyat->uy if(array[2]e +} } } /* A3t } }yy, } }kan,v } }koofile, } }array[3]; eeded */ if (int xswapf (array[0]=yy; (array[1]=kan; (array[2]=koo; (f eemin=um3-1 fo um<->uval3 = m; f{ j=0=0if(array[i]>array[ible1or (j=0=array[i]; array[i]matrrray[ible; array[ible=lue[i][umat->uyat->uy if(array[1]e +} pyrobot/brain/psom/csom_src/som_pak-dev/planes.c01755 0764 0310 000331257506137347021773 0u dblankfa *(ty/************************************************************************ * * * Program package 'som_pak': * * * * planes.c * * -convert { /*planes(into postscript ummat +0;i(chto m * * * * Ver umm3.0 * * Date: 1 M 1995 * * * * NOTE: This program package i pyr) /* ifple *sens } }itvadtt * * / y beous/* +0;iscightific purp s. The package as n who 0;idtt * * p+1ele rt *, c{ not beoinclu /* 0;ius/* ifpany3, smercial * * applicaakinmwithout wriot fppermis ummgran /* by}its produc[i+1. * * No program ntain/* ifpleis package / y beo pi/* +0;i, smercial * * # for makin. * * * * Alli, smei+1e ncernto mthis program package / y beosght the va * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/= lnclu / < io.h> lnclu / < } .h> lnclu / < forng.h> lnclu / lnclu / "lvq_pak.h" lnclu / "ude "lvq.h" lnclu / "l} .h" lnclu / "som_rout.h" i dei] e XMSTEP 40 #dei] e YMSTEP (+blt)a(+blt)aXSTEP * 0.87))= rix *traj_point le, int indexap, atrix *traj_point *next +};= rix *teach_pams pams;eNULLplane; } } /name, *base_nameapint }raj_->mxyuvalutint *dens; rix *traj_point }raj_-oot +eNULLpsuvaluteNULLXSTEP, YSTEP;= tic } }usage[ ;jmxd/* EPS), "Cm(i" -bufferv eger buffer/* ->mxto m/* prin,v eger lines ntv ime, "Cm(izeof}) /*Lps_ forngratrter: escapeLpsuspecial } acters ifp forng. R ifs n>uyapointermto n tic bufferv ntainto mthe escapedp forng. */= } }ps_ forngratrter+ } }textfilep, attic } ps_ forng[1024]; /*LThis shouldhbeoenough +0;imost purp sm /* } }s;jmk1][ deiault: e b->mk1][ } *s++;jdim*s++;j<0 + if;odes;e, atrix * entries *ci;odelue[i][ile. *fp;e, } atr[100i mintrix(soat, ysoat +umept pclose_ (ps s(chfat-8t "%s_p%d.ps", base_name,Lplane+1);ee2*j+1] = s(chfat-8t "%s_p%d.eps", base_name,Lplane+1);eee+at->f f(t-8t "w"fclose_ent;odeslar top =si} e_type(" "ffor (j0ffsetvvaXSTEP/2close(soatvvaXSTEP * ;odesla= cod+j0ffset +umysoatvvaYSTEP * ;odeslam; uLL;_ (ps { , /*LprNULLpsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*planes, "Ce"undei] edocate me (chfafpt "%%%%Pages: 1, %%%%EndC smei+1llocate me (chfafpt "550 40 }rans(doullocate me (chfafpt "90 rotdoullocate me (chfafpt "760 %d #v 510 %d #v ll, "C =soat, ysoatcate me (chfafpt "j=0;760 %d 0 sub #v} {510 %d #v};_ 2*j+, "C =soat, ysoatcate me (chfafpt "/gscal }exchvdeillocate me (chfafpt "gscal }dup-scal llocate }lume[i][{ , /*LprNULLepsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*planes, "Ce"undei] edocate me (chfafpt "%%%%Bou togBox: 0 0 %d rd, "Ce=soat, ysoatcate me (chfafpt "%%%%Pages: 0, %%%%EndC smei+1llocate NN_NEmatprNULLh>mxda LL (chfafpt "/f ntsoatv%d eillo,s+blt)a(XSTEP/3ef += ][d fpt "0 %d }rans(doullo, ysoatcate ][d fpt "1 -1-scal llocat_NEmatF] = tmp;lowda } upper limits +0;igray level-scalto m /* bblvalvvaFLT_MAXate maxvali][-FLT_MAXate ;odelue = -ew] =_ies ie (;odes,a&pcate whstde(;odelue !sizeof([{ , umatmaxvali< ;odelue->points[plane]for (j=0maxvali][;odelue->points[plane]; , umatmblvalv> ;odelue->points[plane]for (j=0mblvalvva;odelue->points[plane]; ;odelue = nextries *(&pcate NN_NEmattoitialoatigray circl sm /* (chfafpt "/rmxtusv%d eillo,s+blt)a(XSTEP/2.2ef += ][d fpt "/LNllocate ][d fpt "{ setgrayllocate ][d fpt "newpathllocate ][d fpt "rmxtusv0 360 arcp"lvlllocate ][d fpt "}vdeillocat_NEmatPrNULLtmp;gray level-d the mini xndexvvalute ;odelue = -ew] =_ies ie (;odes,a&pcate whstde(;odelue !sizeof([{ , matC spu eLtmp;gray level-of next uoitv*/= , umattmaxvali-0mblval) !si0.0 cv si0.05d+j0.9 * (;odelue->points[plane]i-0mblval) lowetmaxvali-0mblval) +umume[i] cv si0.5 +umumxpvvaXSTEP * (xndexv% ;odesla= co)d+jXSTEP/2clumumypvvaYSTEP * (xndexv/ ;odesla= co)d+jYSTEP/2clumumumattxndexv/ ;odesla= co)d% 2)mxpv+=j0ffset + , matPrNULLtmp;j] >i Swap me (chfafpt "%d %d rf LNllo, xp, y , cv); ;odelue = nextries *(&pcate xndex++ate NN_NEmattoitialoatila i(chto m /* (chfafpt "0 setgrayllocate ][d fpt "/Helvetica-i] =f nt f ntsoatvscal f nt setf ntllocate ][d fpt "/LPllocate ][d fpt "{ llocate ][d fpt "1 -1-scal }dup-sforngwidthapopllocate ][d fpt "-2 #v 0 rmoveto showllocate ][d fpt "1 -1-scal }}vdeillocat_NEmatPrNULLtmp;l} mini xndexvvalute ;odelue = -ew] =_ies ie (;odes,a&pcate whstde(;odelue !sizeof([{ , matIfele rt i l} ,ele ntprNULLitv*/= , xpvvaXSTEP * (xndexv% ;odesla= co)d+jXSTEP/2clumumypvvaYSTEP * (xndexv/ ;odesla= co)d+jYSTEP/2clumumumattxndexv/ ;odesla= co)d% 2)mxpv+=j0ffset + , umattla i= getries *_la (;odelue)) !siLABEL_EMPTY for (i=(chfafpt "%d %d moveto (%s LPllo, xp, y , ps_ forngratrter+i] =_conv_to_la tla ))); ;odelue = nextries *(&pcate xndex++ate NN_NE_ (ps { , =(chfafpt "showpagellocate NN_NEf; afp) +} ue[i-scan_ entr}raj(atrix *ies ie mi;odes, atrix *ies ie miprinfile, atrix *teach_pams *teachvva&pams;e, WINNER_FUNCTION *f] =_w] nerv=ateach->w] nerif (int x;e, atrix * entries *ci entlue[i][atrix *traj_point *traj_po[i][atrix *w] ner_info w] nerif (ept pclosedensdes+blt *)amat->uvloat *)blt)a* ;odesla= cod* ;odeslam; cate ]umat-vvalu ii< ;odesla= cod* ;odeslam; u i fo dens[i]matlute }raj_-oot.next = zeof;ee}raj_-oot.xndexvvalute traj_povva&}raj_-oot +exaprinlue = -ew] =_ies ie (prin,v&pcate ble[cantrix inpu fies ie mi/te whstde(prinlue !sizeof([{ , matcheck;i* read { i emptyv*/= , umatf] =_w] ner(;odes,aprinlue,v&w] ner, 1oc(si0 { , traj_po->next = e (atrix *traj_point *)amat->uvloat *)atrix *traj_point)a* 1)ute memotraj_povvatraj_po->nextute memotraj_po->next = zeof;eete memo-1-saveLtmp;w] nervxndexvLL r getraj_po->xndexvva ; r}+umume[i]or (i=0;inext = e (atrix *traj_point *)amat->uvloat *)atrix *traj_point)a* 1)ute memotraj_povvatraj_po->nextute memotraj_po->next = zeof;eete memo-1-saveLtmp;w] nervxndexvLL r getraj_po->xndexvvaw] ner.indexapte memo-1-Increight tmp;w] nervLL r gedens[w] ner.index]++ate e NN_NEmo-1-Taket { { xt inpu fies yv*/= , prinlue = nextries *(&pcaate }lum}raj_->mxyuva1 +} ue[i-(ch_}raj { y(file, int xs jif (int 0ffsetvvalute atrix *teach_pams *teachvva&pams;e, atrix *ies ie miprin ;iteach-> entz2,datrix *ies ie mi;odes = teach->;odes;e, ile. *fp;e, } atr[100i mintrix(soat, ysoat + se_ (ps s(chfat-8t "%s_tr.ps", base_name);ee2*j+1] = s(chfat-8t "%s_tr.eps", base_name);ee+at->f f(t-8t "w"fclose_ent;odeslar top =silues _HEXAfor (j0ffsetvvaXSTEP/2close(soatvvaXSTEP * ;odesla= cod+j0ffset +umysoatvvaYSTEP * ;odeslam; uLL;_ (ps { , /*LprNULLpsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*planes, "Ce"undei] edocate me (chfafpt "%%%%Pages: 1, %%%%EndC smei+1llocate me (chfafpt "550 40 }rans(doullocate me (chfafpt "90 rotdoullocate me (chfafpt "760 %d #v 510 %d #v ll, "C =soat, ysoatcate me (chfafpt "j=0;760 %d 0 sub #v} {510 %d #v};_ 2*j+, "C =soat, ysoatcate me (chfafpt "/gscal }exchvdeillocate me (chfafpt "gscal }dup-scal llocate }lume[i][{ , /*LprNULLepsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*planes, "Ce"undei] edocate me (chfafpt "%%%%Bou togBox: 0 0 %d rd, "Ce=soat, ysoatcate me (chfafpt "%%%%Pages: 0, %%%%EndC smei+1llocate NN_NEmatprNULLh>mxda LL (chfafpt "0 %d }rans(doullo, ysoatcate ][d fpt "1 -1-scal llocat_NEmatdraw emptyvcircl sm /* (chfafpt "1 setlinewidthllocate ][d fpt "0.8 setgrayllocate ][d fpt "/rmxtusv%d eillo,s+blt)a(XSTEP/2.2ef += ][d fpt "/LNllocate ][d fpt "{ newpathllocate ][d fpt "rmxtusv0 360 arcllocate ][d fpt "t-8ok }}vdeillocate ]umat-vvalu ii< ;odesla= cou i fo =0;ixagoNN_NEmatSetvlinetype =0;i}raj { ym /* (chfafpt "%d setlinewidthllo,jXSTEP/10cate ][d fpt "1 setlinejoinllocate ][d fpt "1 setlinecapllocate ][d fpt "0 setgrayllocat matIfeprin the mareopresght,tprNULL}raj { ym /* _ent ent !sizeof([{ , unpocul[2]; , unpobpos; , unpofir fuva1; , atrix *traj_point *traj_po[i= , umat}raj_->mxyuvsi0 scan_ entr}raj(;odes,prinfclosemotraj_povvatraj_-oot.next; , /*L[cantrix inpu fies ie mi/te e whstde(traj_pov!sizeof([{ , bposvvatraj_po->indexap, , umatbposvvva { , orect!fir f { , oe ][d fpt "t-8ok llocate memovalexagona ofir fuva1; exagona o-1-Taket { { xt inpu fies yv*/= , semotraj_povvatraj_po->nextutexagona o-1-Skio until { xt ->mleprin point */= , semo ntinueate memo} ete memo-1-Draw j==u}raj { ym /* orectfir f { fir fuva0;oo cul[0im;iXSTEP * (bposv% ;odesla= co)d+jXSTEP/2cl cul[1]vvaYSTEP * (bposv/ ;odesla= co)d+jYSTEP/2clnextute me}te me (chfafpt "t-8ok llocate NN_NE_ (ps { , =(chfafpt "showpagellocate NN_NEf; afp) +} ue[i-(ch_rix_planes(file, int xute atrix *teach_pams *teachvva&pams;e, atrix *ies ie mi;odes = teach->;odes;ete ]umat-vvalu ii< ;odeslades; umu i fo (ch_plane(N) +} iULL ain(NULLargc, } } argvfile, int error, buffer;e, } }in_;oderatri;e, } }in_ entratri = zeof;eeatrix *ies ie mi;odes = zeof;eeatrix *ies ie miprin ;izeof;eetrix(soat, ysoat +umint 0ffsetvvalutlumerrorvvalute global_0pakins(argc, argvfclse_entextract_pameter(argc, argv, "-help", OPTION2) { , [d help(cate memoexit(0e +umat->dimin_;oderatri = extract_pameter(argc, argv, IN_CODE_ile., ALWAYSe +se_n_ entratri = extract_pameter(argc, argv, IN_DATA_ile., OPTION)ap, planeves+blt)a oitextract_pameter(argc, argv, PLANE, OPTION), 1)ute bufferv=a oitextract_pameter(argc, argv, "-buffer", OPTION), 0e + Lpsuva oitextract_pameter(argc, argv, "-ps", OPTION), 0e + 1 /nameuvain_;oderatri;e, { , } }p + , base_nameuva atrdup( /namee +umatat->atrrchr(base_name,L'.'cate x (pv!sizeof(te memo*at->) } 1izeof;ee}mw; la->x_not_ /*(1);eNEuydim;j++) (chfat->out- "Codebook ies ie mareo->mxd"umat"lvqerr, "Ce_n_;oderatrifclmo;odes = f_ies ie (_n_;oderatrifclmo_ent;odes =sizeof( { , c(chfat->uy8t "can fp;ode "lvqe'%s', "Ce_n_;oderatrifclmomemoerrorvva ; r gegoto cl anup +umat->dimient;odeslar top out- "Drin ies ie mareo->mxd"umat"lvqerr, "Ce_n_ entratri)ap, , ihe (prin ;i f_ies ie (_n_ entratri)oc(sizeof( ovalc(chfat->uy8t "can fpude t"lvqe'%s', "Ce_n_ entratri)ap errorvva ; goto cl anup +umate NN_NEmo_ent entlades; umv> ;odeslades; umfor (i=0;i=(chfat->uy8t "Des; ums ifpude t } ;odebook (std mareodiffer/nt"fclmomemoerrorvva ; r gegoto cl anup +umat->umat entlaflags.skio_emptyvvalute NN_NE_ (planev> ;odeslades; umfor (i=0=(chfat->uy8t "Reqhir/* planev s bigger thani;odebook { des; um"fclmomeerrorvva ; r goto cl anup +um}loseset_teach_pams(&pams, ;odes,aprin,vbuffer1->meset_som_paams(&pamse + 1 XSTEP = XMSTEP->meYSTEP = XMSTEP->me_ent;odeslar top =si} e_type(" "ffor (i=00ffsetvvaXSTEP/2cl(i=0YSTEP = YMSTEP->meNN_NEmatEdimy uoitvgets n (sxedp oatvifple *picturi Swap xsoatvvaXSTEP * ;odesla= cod+j0ffset +umysoatvvaYSTEP * ;odeslam; uLL;mattodexto mthe tabtd mby plane-1 Swap plane--;N_NE_ (planevvva o (ch_rix_planes(f;ee2*j+1] = (ch_plane(planefclose_ent entv!sizeof(te me(ch_}raj { y(fcloscl anup:>me_ent;odes(te me; _ies ie (;odese +se_ent ent(te me; _ies ie (prinfclose if(error) +} pyrobot/brain/psom/csom_src/som_pak-dev/qerror.c01755 0764 0310 000102207506137347022012 0u dblankfa *(ty/************************************************************************ * * * Program package 'som_pak': * * * * qerror.c * * -giveLtmp;quan oaaakinmerrorv=0;i}m;idrin ies ie m * * * * Ver umm3.0 * * Date: 1 M 1995 * * * * NOTE: This program package i pyr) /* ifple *sens } }itvadtt * * / y beous/* +0;iscightific purp s. The package as n who 0;idtt * * p+1ele rt *, c{ not beoinclu /* 0;ius/* ifpany3, smercial * * applicaakinmwithout wriot fppermis ummgran /* by}its produc[i+1. * * No program ntain/* ifpleis package / y beo pi/* +0;i, smercial * * # for makin. * * * * Alli, smei+1e ncernto mthis program package / y beosght the va * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/= lnclu / < io.h> lnclu / < } .h> lnclu / lnclu / "lvq_pak.h" lnclu / "som_rout.h" lnclu / "ude "lvq.h" tic } }usage[ ;j *(doubquan oaaakinmerrorv=0;i}m;idrin ies ie , "Cm(i"Reqhir/* pameters:, "Cm(i" -ctop"lvqname ;odebook (stdlloCm(i" - top"lvqname t stdprin, "Cm(i"Opakinal pameters:, "Cm(i" -qetype 1 anote r w y to c > *(double *error, "Cm(i" --axtusv+) -axtusvof ne /* medi=0;iarternaakveLabove, "Cm(i" -bufferv eger buffer/* ->mxto m/* prin,v eger lines ntv ime, "Cm(izeof}) iULL ain(NULLargc, } } argvfile, loo mnod, buffer;e, +) qerror;e, } }in_ entratri;e, } }in_;oderatri;e, atrix *teach_pams teach +umint qmode;eeatrix *ies ie miprin,v*;odes;e, te global_0pakins(argc, argvfclse_entextract_pameter(argc, argv, "-help", OPTION2) { , [d help(cate memoexit(0e +umat->dimin_ entratri = extract_pameter(argc, argv, IN_DATA_ile., ALWAYSe +umin_;oderatri = extract_pameter(argc, argv, IN_CODE_ile., ALWAYSe +sebufferv=a oitextract_pameter(argc, argv, "-buffer", OPTION), 0e + Lteach.-axtusv=a oftextract_pameter(argc, argv, TRAINING_RADIUS, OPTION), 1.0e + Lqmodev=a oitextract_pameter(argc, argv, "-qetype", OPTION), 0e + 1 at->x_not_ /*(1);e+umuydim;j++) (chfat->out- "Inpu fies ie mareo->mxd"umat"lvqerr, "Ce_n_ entratri)ap, prin ;i f_ies ie (_n_ entratri);e, te _ent entv(sizeof( { , c(chfat->uy8t " { fpude atri:err, "Ce_n_ entratri)ap, , moexit(1);ee KNN_NEuydim;j++) (chfat->out- "Codebook ies ie mareo->mxd"umat"lvqerr, "Ce_n_;oderatrifclmo;odes = f_ies ie (_n_;oderatrifclmolmo_ent;odes =sizeof( { , c(chfat->uy8t " { fp;ode "lvqe'%s', "Ce_n_;oderatrifclmomemo; _ies ie (prinfcl, , moexit(1);ee KNN_NEuynt;odeslar top uy8t "Flvqerriis not a /*(stdlloCe_n_;oderatrifclmome; _ies ie (prinfcl, , ; _ies ie (;odese +se Kexit(1);eedi mo_ent entlades; umv!= ;odeslades; umfor (i=0=(chfat->uy8t "Dde t } ;odebook { s haveLdiffer/nt des; ums (%d != %d)"Cmp 0;j entlades; um, ;odeslades; umfclmome; _ies ie (prinfcl, , ; _ies ie (;odese +se Kexit(1);eedi moset_teach_pams(&teach, ;odes,aprin,vbuffer1->meset_som_paams(&teachfclose_entqmodev>i0 qerrorvvaf] =_qerror2(&teachfcle2*j+1] = qerrorvvaf] =_qerror(&teachfclosenod = teach. entlanum_ies ie ;e+umuydim;j++)1 (chfat->out- "Quan oaaakinmerrorv/* rriwith /*rriis %fppero vptde(%d svptds), "Cmp 0;jin_ entratrix _n_;oderatri, qerrorv/i++) )mnod, nodfcle2*j+1] = (chfat->out- "%illo,sqerrorv/i++) )mnodfclose if(0) +} pyrobot/brain/psom/csom_src/som_pak-dev/svmoA.c01755 0764 0310 000313417506137347022001 0u dblankfa *(ty/************************************************************************ * * * Program packages 'lvq_pak't } 'som_pak' : * * * * svmoA.c * * - genera e ma SvmoA /pto m"umata given list * * * * Ver umm3.0 * * Date: 1 M 1995 * * * * NOTE: This program package i pyr) /* ifple *sens } }itvadtt * * / y beous/* +0;iscightific purp s. The package as n who 0;idtt * * p+1ele rt *, c{ not beoinclu /* 0;ius/* ifpany3, smercial * * applicaakinmwithout wriot fppermis ummgran /* by}its produc[i+1. * * No program ntain/* ifpleis package / y beo pi/* +0;i, smercial * * # for makin. * * * * Alli, smei+1e ncernto mthis program package / y beosght the va * * e-mail address 'lvq@cochlea.hut.fi'. * * * ************************************************************************/= lnclu / < io.h> lnclu / lnclu / < } .h> lnclu / < forng.h> lnclu / "lvq_pak.h" lnclu / "ude "lvq.h" lnclu / "l} .h" mol#dei] e TRUE 1l#dei] e FALSE 0 #dei] e MAGIC 0.2 mol#dei] e max(x,y)a(+x)v>i(y)m?j+x)v:i(y))l#dei] e min(x,y)a(+x)vmxto m/* prin,v eger lines ntv ime, "Cm(izeof}) e } }base_nameap /*Lps_ forngratrter: escapeLpsuspecial } acters ifp forng. R ifs n>uyapointermto n tic bufferv ntainto mthe escapedp forng. */= } }ps_ forngratrter+ } }textfilep, attic } ps_ forng[1024]; /*LThis shouldhbeoenough +0;imost purp sm /* } }s;jmk1][ deiault: e b->mk1][ } *s++;jdim*s++;j<0 + ifuy8t "(ies ie m%d, %d), removto m/ne.lloCe_i,vijcate (i=0;i*remvva ; ;odeslanum_ies ie --;N prev->next = ies 1->nextut p2. urrght j][umate[i][{ prev j][um}p, ,ies = nextries *(&p1);ee Kii++ate NNmolmo if(;odese +} atrix *ies ie misvmoA_itera e(atrix *ies ie mi;odes, int tdngthfile, int xs j, k1] ,loo mnocvvalute +) e1x,ci1y,ci2x,ci2yute +) dpjute +) dq,i 8t dt;eeatrix * entries *ciies ,ciies 1,i*prev,/ if (+) *x,c*yif (+) *xu,c*yu,c*ddif (+) xd, y if (+) xx,cyyif (+) e,v} tu+umint mutumlute +) d,cieif (DIST_FUNCTION * # fa=" #= { _ # f_euc; /*Ltama jot fkinipametcham /* ept p1,ip2 +umatrix *ies ie minewght; ,int codes;odeslades; umu+te matHow ny3ies ie ?m /* nocvva;odeslanum_ies ie ;e+umuydim;j++)3 (chfat->uy8t "%ldhies ie mini;odebooklloCenoccat matAt->udoubdynamicalvmemo yv*/= ,xvvat } }*)a t->uvloat *)+) )m*enoccat yvvat } }*)a t->uvloat *)+) )m*enoccat xuvvat } }*)a t->uvloat *)+) )m*enoccat yuvvat } }*)a t->uvloat *)+) )m*enoccat ddvvat } }*)a t->uvloat *)+) )m*e(nocv*e(nocv- 1oc/ 2)cat matIoitialoatithe tabtd m /* umat-vvalu ii< nocu i f[{ , x[i]mat)+) )m(o-a ()d% noccc/ nocu , y[i]mat)+) )m(icc/ nocu ,}uLL;matC spu eLtmp;mutumlep# fa=" shbetwednvies ie mi/te mutumlevalute ies = -ew] =_ies ie (;odes,a&p1);eNEies = nextries *(&p1);eewhstde(ies !sizeof([{ , ees 1 = -ew] =_ies ie (;odes,a&p2)ap, , whstde(ies 1 !siies ([{ , modd[mutuml]mat # fa=" (ies ,cies 1,i co); ][umat_ent d[mutuml]masi0.0 ovalc(chfat->uy8t "Idghticalvies ie mini;odebookllocate (i=0->][umatmutuml++; ][umatees 1 = nextries *(&p2)ap, , }p, ,ies = nextries *(&p1);eeNNt(d-1-Itera em /* umat-vvalu ii< tdngthu i f[{ , =0;i *(doub>uyivaakve mi/tij)aluedt j< d[kv*e(kv- 1oc/ 2v+ je; 2*j+1luedt j< d[j * (jv- 1oc/ 2v+ ke; dq j< tv- dpjut dr j< tv* dpjut e1x += xdv*edq /i 8ut e1y += ydv*edq /i 8ut e2x += (dq - xdv*exdv* (1.0v+ dq /i pj) /i pj) /i 8ut e2y += (dq - y d* ypv* (1.0v+ dq /i pj) /i pj) /i 8ute (i=0->][umatmatC roublkinm /* oxu[j]ivax[j]i+ MAGIC *ie1x / fabs(e2xcate (i=0yu[j]ivay[j]i+ MAGIC *ie1y / fabs(e2y)ap, , }p, , umatmatMoveLtmp;c[i+er /* ss the vac[i+er /* picturi Swap oxxvvayyvval.0; ][um=0;iuy8t "llocat newght#= t->u_ies ie (fclsenewghtlades; umv= 2clsenewghtlax codes;odeslaxp; LL;newghtlay codes;odeslayp; LL;newghtlar top = ;odeslar top LL;newghtlane vva;odeslane uLL;matC pyi}m;idrin th ifnext = zeof;ee umat-vval, ies = -ew] =_ies ie (;odes,a&p1); ii< nocu i ,,ies = nextries *(&p1)([{ , ees 1 = _nit_ies *(newght,izeof(; r prev->next = ies 1; r prev jpoints[0]ivax[i]; r ies 1->points[1]ivay[i]; r pyries *_la s(ies 1,iies (;eeNNt(newghtlaies ie m=/ .next; ,newghtlanum_ies ie = nocu lmo if(newght) +} ue[i-sav/_ies ie _in_eps(atrix *ies ie mispics, } }(stdname, int ps, int remfile, } atr[100i minile. *fp;e, atrix * entries *cispetc;/* ept pif (+) xmxs xma,cymxs ymaif (+) frac; ,int la ;eetrix(cs ycs ecu lmoxmx vaFLT_MAXate xma vaFLT_MINat ymx vaFLT_MAXate yma vaFLT_MINat se_ (ps s(chfat-8t "%s_sa.ps", (stdnamefcle2*j+1] = s(chfat-8t "%s_sa.eps", (stdnamefcl e+at->f f(t-8t "w"fcl orectfp =sizeof( { , (chfa" { fp(stdrr, "Cess (;eemo if;eedi mospetc = -ew] =_ies ie (spics, &pcate whstde(spetc !sizeof([{ , umatxmx >ospetc->points[0]for (j=0xmx vaspetc->points[0]; , umatxmai< spetc->points[0]for (j=0xma vaspetc->points[0]; , umatymx >ospetc->points[1]for (j=0ymx vaspetc->points[1]; , umatymai< spetc->points[1]for (j=0yma vaspetc->points[1]; , spetc = nextries *(&pcate NN_NEihe (xma -0xmx)*1.5v>i(yma -0ymxffor (jfrac = 51l.0v/i+xma -0xmx)cle2*j+1] = rac = 76l.0v/i+yma -0ymxf;i mospetc = -ew] =_ies ie (spics, &pcate whstde(spetc !sizeof([{ , spetc->points[0] vaspetc->points[0] -0xmx; , spetc->points[1] vaspetc->points[1] -0ymx; , spetc = nextries *(&pcate NN_NEihe ps { , /*LprNULLpsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*svmoA, "Ce"undei] edocate me (chfafpt "%%%%Pages: 1, %%%%EndC smei+1llocate me (chfafpt "40 40 }rans(doullocate me (chfafpt "/gscal }%f eillo,s raccate me (chfafpt "gscal }dup-scal llocate }lume[i][{ , /*LprNULLepsuh>mxda LL r (chfafpt "%%!PS-Adobe-2.0 EPSF-2.0llocate me (chfafpt "%%%%Title: rr, %%%%C->m { :*svmoA, "Ce"undei] edocate me (chfafpt "%%%%Bou togBox: 0 0 %f %illo,sxma -0xmxs yma -0ymxf;ie me (chfafpt "%%%%Pages: 0, %%%%EndC smei+1llocate me (chfafpt "/gscal }%f eillo,s raccate NN_NEf[d fpt "/Helvetica-i] =f nt 12 gscal }divvscal f nt setf ntllocate ][d fpt "/rmxtusv%f eillo,s2.0/ raccate ][d fpt "/LNllocate ][d fpt "{newpathllocate ][d fpt "rmxtusv0 360 arcp"lvlllocate ][d fpt "}vdeillocate ][d fpt "/LPllocate ][d fpt "{dup-sforngwidthapopllocate ][d fpt "-2 #v 0 rmoveto show}vdeillocate ][d fpt "%f setlinewidthllo,j0.2/ raccate ][d fpt "0 setgrayllocat spetc = -ew] =_ies ie (spics, &pcate whstde(spetc !sizeof([{ , ][d fpt "%f rf LNllo, spetc->points[0], spetc->points[1i]) fumattla i= getries *_la (spetc)) !siLABEL_EMPTY or (i=0;i=(chfafpt "%f rf movetollo,jspetc->points[0], spetc->points[1i]) f;i=(chfafpt "(%s LPllo, ps_ forngratrter+i] =_conv_to_la tla ))); umat}p , spetc = nextries *(&pcate NN_NEihe !remf[{ , xcvvalute spetc = -ew] =_ies ie (spics, &pcate e whstde(spetc !sizeof([{ , umatxcc(si0 { =(chfafpt "newpathllocat =(chfafpt "%f rf movetollo,jspetc->points[0], spetc->points[1i]) f;i->][umate[i][{ =(chfafpt "%f rf linetollo,jspetc->points[0], spetc->points[1i]) umatxcc(sispicslaxp; o e ][d fpt "t-8ok llocate memolexate memospetc = nextries *(&pcate , xc++; ][umatumatxcc(sispicslaxp; o xcvvalute lexate meycvvalute whstde(ycvpoints[0], spetc->points[1i]) } 2*j+tumatxcc(siyc)[{ e ][d fpt "%f rf linetollo,jspetc->points[0], spetc->points[1i]) se_entecc(sispicslayp; o e e ][d fpt "t-8ok llocat }p, , spetc = nextries *(&pcat xc++; umatxcc(sispicslaxp; )[{ e xcvvalut atec++; } f;i->][umatyc++ate e NNe NN_NEihe ps , ][d fpt "showpagellocat NEf; afp) +} iULL ain(NULLargc, } } argvfile, loo mtdngthueetrix-a maoat +umint epsuval,Lpsuvalut, } }in_;oderatri;e, } }out_;oderatri;e, atrix *ies ie mi;odes;e, atrix *ies ie mispicsueetrix-emove if ( e global_0pakins(argc, argvfclse_entextract_pameter(argc, argv, "-help", OPTION2) { , [d help(cate memoexit(0e +umat->umin_;oderatri = extract_pameter(argc, argv, IN_CODE_ile., ALWAYSe +seout_;oderatri = extract_pameter(argc, argv, OUT_CODE_ile., ALWAYSe +setdngth es+blt)a oitextract_pameter(argc, argv, RUNNING_LENGTH, ALWAYSe, , 1);ee-a maoat es+blt)a oitextract_pameter(argc, argv, RANDOM, OPTION), 0e + Lepsuvatextract_pameter(argc, argv, "-eps", OPTION2) !sizeof(if (psuvatextract_pameter(argc, argv, "-ps", OPTION2) !sizeof(if ( ; la->x_not_ /*(1);eNE NEuydim;j++) (chfat->uy8t " odevies ie m"umat"lvqerr, "Ce_n_;oderatrifclmoumat(;odes = f_ies ie (_n_;oderatrif) =sizeof( { , c(chfat->uy8t "can fp;ode "lvqerr, "Ce_n_;oderatrifclmomemoexit(1)ute lexate _nit_-a ma(-a maoatcat matRemoveL dghticalvies ie m"umatread;odebook /* odes = remove_idghticals(;odes,a&-emove );eNE NEspics vasvmoA_itera e(;odes,atdngthf;eNE NEuydim;j++) (chfat->uy8t "SaveLcodevies ie mto "lvqerr, "Ceout_;oderatri1->mesav/_ies ie (spics, out_;oderatri1-> , { , } }p + , base_nameuva atrdup(out_;oderatri1->meatat->atrrchr(base_name,L'.'cate x (pv!sizeof(te memo*at->'\0'ate NN_NE-1-Don draw lines we ntread"lvqeis not a /*(stdm /* _entt;odeslar top !silues _RECT) &&at;odeslar top !silues _HEXAf(te me-emove va1; exaihe ps ||Leps sav/_ies ie _in_eps(apics, base_name,Lps, -emove );e , ; _ies ie (;odese +se; _ies ie (apicsfclose if(0) +} pyrobot/brain/psom/csom_src/som_pak-dev/som_devrobs.c01755 0764 0310 001105320771224732523026 0u dblankfa *(ty-1-som_devrobs.c * ------------- * june 12, 2002 * Dani iSproul, sproul@sccs.swarthmore.edu * modificaakin mto som_pak-3.1 to c->m ub>usir/* funcakin mf0;ius/ * in Developmei+alvRobotics proj . thbeowrapp/* ifppythinmwith swig * a v corpora e* ifpPyro * ---------------------------------- */= lnclu / < io.h> lnclu / < } .h> lnclu / lnclu / < lib.h> lnclu / < forng.h> lnclu / "lvq_pak.h" lnclu / "som_rout.h" lnclu / "ude "lvq.h" lnclu / "som_devrobs.h" -1-wrio _ies ie () * --------------- * just a sillyowrapp/rv=0;i}m;isav/_ies ie ()amacrthbecaus/ swig does m*enot supportamacrts */=trixwrio _ies ie (atrix *ies ie mi;odes, } }out_;oderatri orte ifx_not_ /*(1);eNEunit_-a ma(+blt)a ime(zeof() +} -1-getriptr() * ---------- * c->m uban ept */=ept *getriptr(ue[i orte ept *pif (//at->)ept *)amat->uvloat *)ept () E-1-WKV 2003-07-28 Swap pt->)ept *)acat->uv1, loat *)ept () te if

udoususpace =0;ianvies ie matrix *a vmake maomp; jitialoaaakins, * intend/* +0;ius/ ini;onatrix to mdrin sets (as p dmto sets /* odel * { s), ergthe vaname. 'dim'uspecfie mtm;ides; umvo* read { s. * Oft fpus/* ifp;onjuncakinmwith addto_ entset()*a vtrain_"uma entset(). */= atrix *ies ie mitoit_ entset(int co orte atrix *ies ie miprin;eNE NEuy( coduy8t "toit_ entset(): blvalidides; um: rd, "Ce co); ][um ifu_ies ie (fcl NEuy( ent !sizeof([{ , entlades; umvat #m; , entla urrght juy8t "toit_ entset(): t->u_ies ie (fm if/* zeofllocate NN_NE ifudou* by}ioit_ entset. * WKV 2003-07-28 */=ue[i-freer entset (atrix *ies ie miprinforte atrix * entries *ci urrght,minext; , NEuy( ent =sizeof( if;ee urrght j< entlaies ie ate whstd( urrght([{ , next = urrght->nextute mefreer entries *( urrght(ute me urrght ji0 [{ , (chfat->uy8t "freer entset: Alliies ie m"ue/* howeverv uht %deis non-zerollo,j entlanum_ies ie cate }lumfree(prinfcl} -1-addto_ entset() * --------------- * Add ma entries *catrix *to n pre-exis to m(al->mxyucat-/* ifit_ entset()) * setv/* prin. Oft fpus/* ifp;onjuncakinmwith maker entries *_*(). * R ifs 1aiheanmerrorv/c urs, 0 ote rwise. */=trixaddto_ entset(atrix *ies ie miprin,vatrix * entries *ciies y orte ept p;e, atrix * entries *cinextutexauy( ent =sizeof( { , (chfat->uy8t "addto_ entset():izeofmdrin setllocate me if<1;NeNNt(ih(ies *c=sizeof( { , (chfat->uy8t "addto_ entset():izeofmdrin ies *llocate me if<1;NeNN r ies y->next = entlaies ie ate entlaies ie = ies yate entlanum_ies ie ++ate if<0cl} -1-maker entries *_we ted_mask/*() * --------------------------------- * C->m uba entries *catrix . * 'points'eis a(+) array specifyto mthe actumleprin { * 'we t' specifie mtm;itrainto mwe tvo* read { (typicallyo1.0, * g->m urmwe ts haveLa g->m urmtrainto mimpacLLo Ltmp;map, the ml.0v * a vg->m urmareoacceptabtd) * 'mask'eis a( } acter array o* 1's a v0's, a vshouldhbeo}m;isame * tdngth as 'points'. A 1aindiudousu }read;orrgspo tog point in * 'points'eshouldhbeoignor/* ifp;ospu to mthe w] nto m odeld { . * Typicallyo'mask'eis {0, 0, ...} 0;ieqhi tieslyozeof. * * Modificaakin : * it is primarily left up the vaus/rmto make certainu }'points', * 'mask', a vthe associdou* SOMmareoallio* readsame { des; um * --mthis is no loo urmtrue. codchecks haveLbednvadd dmto __ifit__.pyv * vadd dmJune 9, 2003. * * 'la->x'eis an array o* } pointers. * --madd dmJune 16, 2003. */= atrix * entries *cimaker entries *_we ted_mask/*( } }*points,eshortawe t, shorta*mask,,int co, } } la )orte atrix * entries *ciies yate } } } mask ;izeof;eetrixi; , NE//mthis check;hasLbednvmove to __ifit__.py. YT_NE-1Nt(ih(we tvuy8t "maker entries *_we ted_mask/*(): blvalidiwe t: ocate me (chfat->uy8t "%illo,swe t); ][um ifuvloat *)atrix * entries *)cat ies y->points[um= point ate ies y->num_la suvalut, ies y->we tvum= we t; r ies y->next vum= zeof;eeies y->(sxedpvum= zeof;eeies y->la .la i= 0 E-1-WKV 2003-07-28 Swap _NE-1-mask /* _e(mask) { , } mask ;i+ } })amat->uv co); ][um+0;(i=0;i< #m;i f ][umat } mask[i]mat) } 1imask[i]ate }lumees y->mask ;i } mask;ap _NE-1-la ii/te mati* readla iarray is not null,madd it the vaies *ci /* _e(la )orte um+0;(i=0;dla [i]m!sizeofu i fo vaddries *_la (ies *, i] =_conv_to_] =(la [i])cate NN_NE ifmask !sizeof([{ , ]ree(ies *->mask); ][umees y->mask ;izeof;ee}m cl arries *_la s(ies y)ap, ]ree(ies *) +} -1-maker entries *() * ----------------- * Nodla s qhir/*. ps mini0. */=atrix * entries *cimaker entries *( } }*points orte ifx_ entries *() * ---------------------- * DEPRECATED * us/ cl arrla ()*a vaddrla ()*inst>mx. YT_N* * R ifs 0ti* la iset to mis successful, 1 ote rwise. * TheLdiffer/ncehbetwednvaddrla a vset_la->xmis } * set_la->xm-emovesoallila s previously associdou* with * e vaies *cbe+0;eiset to m { { wila . * --add dmJune 17, 2003 (YT) */=-1Nint set_la->x_ entries *(atrix * entries *ciies y, } } la )orte trixi; , NE_e(la )orte um+0;(i=0;dla [i][0] !si'0'u i f[{E//la iarray is null-termindou* withi'0'.o v//(chfa"Add d: %cllo,sla [i][0]fclmomemosetries *_la (ies *, i] =_conv_to_] =(la [i])cate ;i->][um if<0cl;i->][ if<1;N} */= mataddrla _ entries *() * ---------------------- * R ifs 0ti* addto ma la->xmis successful, 1 ote rwise.} * addrla simply add ma la the vaies *;pany3previous * associdokin m-emaifple *same. * --add dmJune 17, 2003 (YT) */=ue[i-addrla _ entries *(atrix * entries *ciies y, } } la )orte trixi; ,_e(la )orte um+0;(i=0;dla [i]m!sizeofu i fo vaddries *_la (ies *, i] =_conv_to_] =(la [i])cate NN} -1-cl arrla s_ entries *() * ------------------------- * Cl arsoallila s associdou* withva entaies *c * --add dmJune 17, 2003 (YT) */=ue[i-cl arrla s_ entries *(atrix * entries *ciies y orte cl arries *_la s(ies y)ap} -1-------------------mtrainto mses umm jitialoaaakinmfuncakin m----------i*/= mat;onatrix _teach_pams() * ------------------------ * C->m u ma teach_pams atrix *(thinkio* reis a ma SOMmatrix *with * associdou* teachtog pameters, we reopams->;odesv ntain mtm; * in+0;maakinmabou fthe actumle odeld { s). ';odes'eshould * bp; jitialoau* a ma setv/* odeld { s,m"umata call thlintoit(), * -a toit(), 0;i f_ies ie (). ';odes'ewill h fp;ontain in+0 * abou ft topog*, /*des; um, { des; um, a vne /* med * eype. 'alpha_ ode't } 'rmxtus_ ode'tspecifyfthe alphat } rmxtus * decay funcakin . */=atrix *teach_pams_ uhters *;onatrix _teach_pams(atrix *ies ie mi;odes, shortaalpha_ ode, shortarmxtus_ ode)orte atrix *teach_pams_ uhters *pams;e, _e(;odes =sizeof(ova , (chfat->uy8t ";onatrix _teach_pams():izeofm;odes atrix llocate me ifuvloat *)atrix *teach_pams_ uhters)cate pams->teachvva)atrix *teach_pamsi)mat->uvloat *)atrix *teach_pams)cate set_teach_pams(pams->teach, ;odes,azeof, 0cate set_som_paams(pams->teachcate setup_ uhters(pamse + 1 pams->teach->snapshot jteach->prin ;izeof;eepams->teach-> uht va ; v//u dmto signal un jitialoau* trainto mses um , NEswitch(alpha_ ode orte case LINEAR: pams->teach->alpha_func valinearralpha; , b->mk1]e case INVERSE_T: pams->teach->alpha_func vablverse_tralpha; b->mk1]e deiault: (chfat->uy8t ";onatrix _teach_pams():iocate me (chfat->uy8t "unrecognoau* alphat ode:m%d, o,salpha_ ode ate me (chfat->uy8t "usto mLINEARllocate mepams->teach->alpha_func valinearralpha;l;i->][switch(rmxtus_ ode)orte case LINEAR: pams->teach->rmxtus_func valinearralpha; , b->mk1]e case INVERSE_T: pams->teach->rmxtus_func vablverse_tralpha; b->mk1]e deiault: (chfat->uy8t ";onatrix _teach_pams():iocate me (chfat->uy8t "unrecognoau* rmxtusv ode:m%d, o,srmxtus_ ode)ate me (chfat->uy8t "usto mLINEARllocate mepams->teach->rmxtus_func valinearralpha;te NN_NE ifudou* by};onatrix _teach_pams(). * WKV 2003-07-28 */=ue[i-freerteach_pams(atrix *teach_pams_ uhters *pams orte ih(pams =sizeof( if;eefreer uhters(pamse +e ih(pams->teachc[{ , ]ree(pams->teachcate e pams->teachvvazeof;ee}m ]ree(pams) +} -1-ifit_trainto _ses um() * ----------------------- * Ioitialoatiamtrainto mses ummwithv jitial alphat } rmxtus, intend/* * tdngth o* rrainto mses umm(number o* itera kin ), a vanmerror * c > *(do ummpameter. This lasteis a(biixad-hoc,vbutaroughly * sp>mkto mgetrirror()ewill de fdLo Ltmp;laste'qerror_w] =ow' * { s /ped, withvtmp;most recght havto m { g->m ust effex . * R ifs 1aihea fa+alverrorv/c urs, 0 ote rwise. */= int init_trainto _ses um(atrix *teach_pams_ uhters *pams, (+) alpha_0,(+) rmxtus_0,(loo mtdngth, (loo mqerror_w] =ow orte ih(pams =sizeof( { , (chfat->uy8t "toit_trainto _ses um():izeofmteach_pams_ uhtersllocate me if<1;NeNNt(ih(pams->teachvvsizeof( { , (chfat->uy8t "toit_trainto _ses um():izeofmpams->teach_pamsllocate me if<1;NeNN r /* e vs *errordchecks areonow dontvifple *pythinmcode:m__ifit__.py. YTii/te matNt(ih(alpha_0vuy8t "toit_trainto _ses um():iblvalidialpha_0:m%f, o,o e e alpha_0)ate me (chfat->uy8t "usto m0.0llocate mealpha_0vval.0; ][}Nt(ih(alpha_0v> 1.0eova , (chfat->uy8t "toit_trainto _ses um():iblvalidialpha_0:m%f, o,o e e alpha_0)ate me (chfat->uy8t "usto m1.0llocate mealpha_0vva1.0; ][}Nt(ih(rmxtus_0vuy8t "toit_trainto _ses um():iblvalidirmxtus_0:m%f, o,o e e rmxtus_0)ate me (chfat->uy8t "usto m1.0llocate mermxtus_0vva1.0; ][}Nt(ih(tdngth < 1ocva , (chfat->uy8t "toit_trainto _ses um():iblvaliditdngth:m%f, o,o e e tdngthf;eNEme (chfat->uy8t "usto m1llocate metdngth es1;NeNNt(ih(qerror_w] =ow < 1ocva , (chfat->uy8t "toit_trainto _ses um():iblvalidiqerror_w] =ow:m%f, o,o e e qerror_w] =ow ;eNEme (chfat->uy8t "usto m1llocate meqerror_w] =ow es1;NeNNt(Swap pams->teach->alpha ;i tpha_0;eepams->teach->-axtusv=armxtus_0;eepams->teach->tdngth estdngthueepams->teach-> uht uvalut, pams->teach->qerrorvval.0; ][pams->teach->error_fa { va1.0v/i+)+) )mqerror_w] =ow ;eNE if<0cl} -1-setup_snapshot() * ---------------- * Sets u/*(stdmsnapshots /* codev { s; e vs *(std mwill b;isav/* * edimy 'interval' number o* itera kin . * If 'snap(std_prefix'eis "snap.cod" a v ervaleis 100 * e vfple *resultto m"std mwill b;i"snap.cod.100"Ce"snap.cod.200"Ceetc. * R ifs 1aiheanmerrorv/c urs, 0 ote rwise. */=trixsetup_snapshot(atrix *teach_pams_ uhters *pams, * } }snap(std_prefix,(loo m erval)orte atrix *snapshot_in+0 }snap; , NE_e(pams =sizeof( { , (chfat->uy8t "setup_snapshot():izeofmteach_pams_ uhtersllocate me if<1;NeNNt(ih(pams->teachvvsizeof( { , (chfat->uy8t "setup_snapshot():izeofmpams->teach_pamsllocate me if<1;NeNNt(ih( ervale< 1ocva , (chfat->uy8t "setup_snapshot():iblvalidi erval: rd, "Ce erval)ate me if<1;NeNNt(snapvva)atrix *snapshot_in+0 })amat->uvloat *)atrix *snapshot_in+0)cate snap->(stdname = snap(std_prefixate snap-> ervale=e ervalate snap->type = SNAPSHOT_SAVEile.; ][pams->teach->snapshot jteach-> deslaxp; LL;y codespams->teach-> deslayp; L ][pams->t uhters va)unsign/* ift ***)amat->uvloat *)unsign/* ift **)*x co); ][pams->m uhters va)unsign/* ift ***)amat->uvloat *)unsign/* ift **)*x co); ][pams-> uhters_x codesxp; E-1-WKV 2003-07-28 Swap pams-> uhters_y codesyp; E-1-WKV 2003-07-28 Swa um+0;(i=0;dit uhters[i]mat)unsign/* ift **)mat->uvloat *)unsign/* ift *)*y co); ][umpams->m uhters[i]mat)unsign/* ift **)mat->uvloat *)unsign/* ift *)*y co); te um+0; (j=0;djt uhters[i][j]iva)unsign/* ift *)mat->uvloat *)unsign/* ift)*3); /* opams->m uhters[i][j]iva)unsign/* ift *)mat->uvloat *)unsign/* ift)*3); //* o=0;it uhters[i][j][k]vvalute at pams->m uhters[i][j][k]vvalute at->][um}p, }e} -1-freer uhters() * -------------- * WKV 2003-07-28 */=ue[i-freer uhters(atrix *teach_pams_ uhters *pams orte irixxs jutexauy(pams =sizeof( if;eeih(pams->t uhters)orte um+0;(i=0;di uhters_x co Ei f[{ , um+0;(j=0;dj uhters_y co Ej for ]ree(pams->t uhters[i][j]); ]ree(pams->m uhters[i][j]); e at->][um ]ree(pams->t uhters[i]]) f;i=ree(pams->m uhters[i]cate ;i->][um]ree(pams->t uhters ;eNEme ree(pams->m uhterscate e pams->t uhters vazeof;ee pams->m uhters vazeof;ee}m} -1-upddour uhters() * ----------------- * Given the w] nto m;oordindous a vthe previous w] nto m;oordindous, * incremei+}read;ouhters. * uhters[0]: g*(dr uhterv * uhters[1]: ;onaecuakveL uhter * uhters[2]: maximum ;onaecuakveL uhter * Tm;i( g*(dr)L uhter a vthe ;onaecuakveL uhter areoalwaysvifcremei+/*. * Tm;imaximum ;onaecuakveL uhter st0;e mtm;ihighust ;onaecuakveLrrain/ma/ * uhter associdou* withva SOMmnode._N* * Note: F0;i}ust rums (i.e. uhters areonot ifcremei+/*, us/ (-1,-1oc * vvvvas last_;oords. */=ue[i-upddour uhters(unsign/* ift *** uhters, int * urr_;oords, int *last_;oords orte irix urr_x,( urr_yate urr_x = urr_;oords[0]; te urr_y = urr_;oords[1]; ,-1Nt((chfa"Ifcremei+to m uhter rd->%* +0;ipoint:(%d,%d), "C n uhters[ urr_x][ urr_y][0], uhters[ urr_x][ urr_y][0]v+a ,o e urr_x,( urr_ycate /* ouhters[ urr_x][ urr_y][0]++ate -1Nt((chfa"Ifcremei+to m naecm uhter rd->%* +0;ipoint:(%d,%d), "C n uhters[ urr_x][ urr_y][1], uhters[ urr_x][ urr_y][1]v+a ,o e urr_x,( urr_ycate /* ouhters[ urr_x][ urr_y][1]++ate , _e(;ouhters[ urr_x][ urr_y][1]v> ouhters[ urr_x][ urr_y][2] { , /*ee pchfa"Set to mmaxm naecm uhter rd->%* +0;ipoint:(%d,%d), "C n * ouhters[ urr_x][ urr_y][2], uhters[ urr_x][ urr_y][1],o e e urr_x,( urr_ycate m /* ouhters[ urr_x][ urr_y][2]vva;ouhters[ urr_x][ urr_y][1];NeNNt(te matIfmthis is nottread"lrstvma/pto , a vthe laste /pedm;oordindou/* * is nottreadsame a mtm;i urrght w] nto m;oordindou, -esetvtm; * ;onaecuakveL uhter =0;i}m;ilaste;oordindou. * Note: last_;oords is =sizeofti* reis is read"lrstvrum i.e. * readSOMmhasLnevervbednvrrained/ /pedmbe+0;e. * /* _e(!(last_;oords[0] vva && last_;oords[1] vva && f;!(last_;oords[0] vva urr_x && last_;oords[1] vva urr_yc { , /*ee pchfa"Resetto m naecm uhter rd->%* +0;ilastepoint:(%d,%d), "C e ;ouhters[last_;oords[0]][last_;oords[1]][1], 0C e last_;oords[0], last_;oords[1]cate m /* ouhters[last_;oords[0]][last_;oords[1]][1]vvalute ->][ if +} -1-getr g_t uhter() * ------------------ * R ifs le *reg*(dr rrain uhter associdou* withvle * * given ;oordindous. */=trixgetr g_t uhter(atrix *teach_pams_ uhters *pams, int *;oords orte ifuy8t "getr uhter():izeofmteach_pams_ uhtersllocate me if<1;NeNNt(ih(pams->teachvvsizeof( { , (chfat->uy8t "getr uhter():izeofmpams->teach_pamsllocate me if<1;NeNNt(ih(;oords[0] >espams->teach-> deslaxp; || e ;oords[1] >espams->teach-> deslayp; orte me (chfat->uy8t "getrreg*(drr uhter():iIlvalidi;oordindous (%d,%d), "Co e e pams->teach-> deslaxp; ,spams->teach-> deslayp; ;NeNN r _e(mode vsiTRAIN) /* ouhtersdespams->t uhtersutNEe[i][/* ouhtersdespams->m uhtersutexaswitch( uhter_type orte case CONSEC:te me if<;ouhters[ oords[0]][;oords[1]][1]1]e case MAX_CONSEC:te me if<;ouhters[ oords[0]][;oords[1]][2]1]e deiault:te me if<;ouhters[ oords[0]][;oords[1]][0];ee}m} -1-------------------mtrainto / /pto m"uncakin m----------------------m*/= mattoput_one() * ----------- * Take mteach_pams_ uhters a va* entries *ca vapplie mtm;i /pto m * algorithm tthe vaprin { ,e ifto ma pointermto integerv ordindous * o* readw] nto m odeld { , 0;izeofti* anmerrorv/c urs. * If mode is NO_TRAIN, e vfpleateis all hat ha/pens. * If mode is TRAIN, e vfpleeL /*is rrained in ac;orda=" #withvatpha, * rmxtus, a vwhatnot, a vthe ;ouht*is ifcreased. * If a/pro(chdou, snapshots areoalstheakenm"umate re. */=trix* /_one(atrix *teach_pams_ uhters *pams, e atrix * entries *cisample, e int *last_;oords, irixupddour uhter_flag orte ifteach->ne _adapt;eeWINNER_FUNCTION *i] =_w] ner espams->teach->w] ner;eeALPHA_FUNC *getralpha espams->teach->alpha_func;eeALPHA_FUNC *getr-axtusv espams->teach->rmxtus_func;te atrix *snapshot_in+0 }snap espams->teach->snapshot;te atrix *w] ner_in+0 w] _in+0;te atrix *ies ie mi;odes espams->teach->;odes;e, +) alpha,srmxtus; int *;oordsutexauy(pams =sizeof( va , (chfat->uy8t "toput_one():izeofmteach_pams_ uhtersllocate mefflushat->out); ][um ifteachvvsizeof( { , (chfat->uy8t "toput_one():izeofmpams->teach_pamsllocate mefflushat->out); ][um ifuy8t "toput_one():izeofmsamplev entries *llocate mefflushat->out); ][um ifuy8t "toput_one():iunrecognoau* ode:m%d, usto mTRAIN, "C ode)ate me flushat->out); ][ummode vmTRAIN;ee}m ih(mode vsiTRAIN && pams->teach-> uht vva { , (chfat->uy8t "toput_one():iun jitialoau* trainto mses umllocate mefflushat->out); ][um ifwedp /* oords es+blt })amat->uv2*loat *)ift)fclmoumat(sample->(sxedp!sizeof([&&atus/_(sxed( c { , ;oords[0] v sample->(sxedlaxfixate ;oords[1] v sample->(sxedlayfixate }E NEe[i][{ , rectf] =_w] ner(;odes, sample, &w] _in+0, 1oc(si0f[{ , um+(chfat->uy8t "toput_one():ino*w] ner +0un* ifp;all thf] =_w] ner()ocate memo+(chfat->uy8t ", ski/pto mteachtogllocate memo ree(;oords ate memo oords eszeof;ee goto ski/rteachate ;i->][um;oords[0] v w] _in+0.] =ex %s;odeslaxp; LL; ;oords[1] v w] _in+0.] =ex /s;odeslaxp; LL; pams->teach->qerrorvva(1.0-pams->teach->error_fa { )m*epams->teach->qerrorvee +[pams->teach->error_fa { *msqrt((doubtd) w] _in+0.diff);ee}m te matAdapt e vaujits /* _e(mode vsiTRAIN) { , -axtusv=agetr-axtus(pams->teach-> uht,spams->teach->tdngth, pams->teach->rmxtus + 1; r alpha ;igetralpha(pams->teach-> uht,spams->teach->tdngth, pams->teach->alphacate x ((sample->we tv>i0 &&atus/_we ts( c ee alpha va1.0v-0)+) )mpow((doubtd) (1.0v-0alphac, (doubtd) sample->we tcate x (alpha teach, sample, ;oords[0], ;oords[1], rmxtus, alphacate pams->teach-> uht++ate di moski/rteach:te matsav/*snapshot we nt /*m /* _enttsnap &&at(pams->teach-> uht %ssnap-> erval)c(si0 &&aee (pams->teach-> uht >i0 sav/_snapshot(pams->teach, pams->teach-> uhtcat matupddoumtrainto / /pto m uhters de fdto monmmode /* _e(upddour uhter_flag orte * _e(mode vsiTRAIN) { , -upddour uhters(pams->t uhters, ;oords, last_;oords ate ;i->][ume[i][{ , -upddour uhters(pams->m uhters, ;oords, last_;oords ate ;i->][->][ if<;oordsut} -1-train_"uma entset() * ------------------- * Rums anviesi;eirrainto mses umm"umatreach_pams a va* ent-set * ntained in ' ent'. 'dent'mwill eite r b;igottenm"umata call t * o f_ies ie () 0;ibyucat-to mifit_ entset() a vthefusir/*. Cat- mto timto _start() a vtimto _stop() * will thbeomade _en>usir/*. * Trainto m odevcan eite r b;iCYCLIC 0;iRANDOM, impacL mtm;iorder in * whichvprin { s areofu* tthe vaSOM. * R ifs zeofti* a fa+alverrorv/c urs, ote rwise r ifs a pointermto * e valaste entries *cus/* ifpe vaprin set (us/* ifpe vapythinminterfa e * eo}determtovaSRN activdokin mafturmtrainto m"umata prin set). */=atrix * entries *citrain_"uma entset(atrix *teach_pams_ uhters *pams, e atrix *ies ie miprin,vahorta ode)orte atrix * entries *ciies y, *lastutNEept p;e, blt juval,L*;oords,e*last_;oords; , NE_e(pams =sizeof( { , (chfat->uy8t "train_"uma entset():izeofmteach_pam_ uhtersllocate me ifteachvvsizeof( { , (chfat->uy8t "train_"uma entset():izeofmpams->teach_pamsllocate me ifteach->;odesvvsizeof( { , (chfat->uy8t "train_"uma entset():izeofmpams->teach_pams->;odesllocate me ifuy8t "train_"uma entset():izeofmdrin setllocate me ifteach-> deslades; um( { , (chfat->uy8t "train_"uma entset():imis tch/* prin set a vmodeldocate me (chfat->uy8t " { des; ums:m%d, rd, "Ce entlades; umCo e e pams->teach-> deslades; um(ate me ifuv2*loat *)ift)fclmolast_;oords[0] v last_;oords[1] va ;_NE-/ies *c= -ew] =_ies ie (prin,v&pcate mati* aaus/rmhasLbednvaoiignorarixa mto issu;itwo , trainto m qhests,ehis progamigets kit-/* withva segiault ifpe v , get_la->xm-ou toe. The probtdm is o=" #again garbage beto m if/* , tope vapythinmlevel*(thvalasteies *cwa mun jitialoau*).o WKV 2003-07-31m /* last = ies yc= -ew] =_ies ie (prin,v&pca //* whstd(pams->teach-> uht teach->tdngth orte * _e(ies *c=sizeof( ies *c= -ew] =_ies ie (prin,v&pcate * _e((;oords vstrain_one(pams, ies y, last_;oords, 1f) =sizeof([{ , um+(chfat->uy8t "train_"uma entset():itrain_one(fm if/* zeofllocate e me if][um]ree(last_;oords aE-1-WKV 2003-07-28 Swap * last_;oords vs;oords; ,* last = ies y; ,* ies *c= nextries *(&pcate NNum]ree(last_;oords aE-1-YT 2003-07-31m /* ifuy8t "map_"uma entset():izeofmteach_pams_ uhtersllocate me ifteachvvsizeof( { , (chfat->uy8t "map_"uma entset():izeofmpams->teach_pamsllocate me ifteach->;odesvvsizeof( { , (chfat->uy8t "map_"uma entset():izeofmpams->teach_pams->;odesllocate me ifuy8t "map_"uma entset():izeofm entsetllocate me ifteach-> deslades; um( { , (chfat->uy8t "map_"uma entset():imis tch/* prinset a vmodeldocate me (chfat->uy8t " { des; ums:m%d, rd, "Ce entlades; umCo e e pams->teach-> deslades; um(ate me ifuv2*loat *)ift)fclmolast_;oords[0] v last_;oords[1] va ;_NE-/ies *c= -ew] =_ies ie (prin,v&pca /* last = ies yc= -ew] =_ies ie (prin,v&pca matsame r asinmas aboveL -YT 2003-07-31m //* whstd(ies yc!sizeof(rte * _e((;oords vs /_one(pams, ies y, last_;oords, 1f) =sizeof([{ , um+(chfat->uy8t "map_"uma entset():im /_one(fm if/* zeofllocate e me if][um]ree(last_;oords aE-1-WKV 2003-07-31m /* * last_;oords vs;oords; ,* last = ies y; ,* ies *c= nextries *(&pcate NNum]ree(last_;oords aE-1-WKV 2003-07-31m /* ifteach->start_ ime) +} ue[i-timto _stop(atrix *teach_pams_ uhters *pams orte ime(&pams->teach->e =_ ime) +} trixgetrtrainto _ ime(atrix *teach_pams_ uhters *pams orte ifteach->e =_ ime -spams->teach->start_ imecl} -1--------------- funcakin mf0;iget to min+0 abou fSOMmatdoum----------m*/= matgetrirror() * ----------- * just r ifs a entailemei+. nothtog too fancy. * seev it_trainto _ses um() a v put_one()mf0;iin+0 abou fhowmerror * is actumlly c > *(do/*. */ +) getrirror(atrix *teach_pams_ uhters *pams orte ifteach->qerror +} _-1-getractivdokin_levels() * ----------------------- * Given the x,y};oordindous ';oords' =0;i}m;iSOMm ntained in 'teach', * r ifs SRN-a/pro(chdou activdokinmlevels basedLo L'rmxtus', * -a gto m"umat1.0v }readspecifiedi;oordindou a vdecayto mbasedLo * 'rmxtus' a veite r gaus an 0;ibubbtd funcakin,mas specifiedibyo'mode'. * R ifs zeofti* anmerrorv/c urs. */= } }*getractivdokin_levels(atrix *teach_pams_ uhters *pams, ( , blt *;oords,e+) rmxtus,vahorta ode)orte MAPDIST_FUNCTION *distf espams->teach->m /dist;e, +) *levelsCe elin;eNEirixxs x, y, ( co, y coutexauy(pams =sizeof( va , (chfat->uy8t "getractivdokin_levels():izeofmteach_pams_ uhtersllocate me ifteachvvsizeof( { , (chfat->uy8t "getractivdokin_levels():izeofmpams->teach_pamsllocate me ifteach->;odesvvsizeof( { , (chfat->uy8t "getractivdokin_levels():izeofmpams->teach_pams->;odesllocate me ifuy8t "getractivdokin_levels():izeofm;oordindousllocate me ifuy8t "getractivdokin_levels():iunrecognoau* odem%d, usto mrd, "Co e e ode,zEIGH_GAUSSIAN); ][ummode vmzEIGH_GAUSSIAN;ee}m ih(-axtusvuy8t "getractivdokin_levels():iblvalidirmxtus:m%f, o,irmxtus)ate me (chfat->uy8t "usto m1.0llocate mermxtusvva1.0; ][}Nt( ,x codespams->teach-> deslaxp; LL;y codespams->teach-> deslayp; Le , _e(;oords[0] < 0 ||L;oords[0] > xp; || ;oords[1] < 0 ||L;oords[1]v> yp; orte me (chfat->uy8t "getractivdokin_levels():iblvalidix,y};oordindous: ocate me (chfat->uy8t "%d,%d, /*des; ums:m%d,rd, "Ce;oords[0], ;oords[1],o e e ( co, y co(ate me ifuv( co*y co*loat *)+) )e +e ih(mode vsizEIGH_GAUSSIAN)orte um+0;(y=0;dy][um}p, }Ee[i][{ , 0;(y=0;dy][um}p, } mp _NE if *(do ums * =0;ieachv odeld { */ +) *get_levels_byrirror(atrix *teach_pams_ uhters *pams, ( atrix * entries *cisample, +) tolera=" f[{ ,DIST_FUNCTION *distf espams->teach->dist;e, +) *levelsCe elin, imto, imax;eNEirixxs x, y, ( co, y coCe co=pams->teach-> deslades; um, *;oordsut( atrix * entries *ci odelutexauy(pams =sizeof( va , (chfat->uy8t "getrlevels_byrirror():izeofmteach_pams_ uhtersllocate me ifteachvvsizeof( { , (chfat->uy8t "getrlevels_byrirror():izeofmpams->teach_pamsllocate me ifteach->;odesvvsizeof( { , (chfat->uy8t "getrlevels_byrirror():izeofmpams->teach_pams->;odesllocate me if 1.0eova , (chfat->uy8t "getrlevels_byrirror():iIlvaliditolera=" %d, usto m1.0llo,o e e tolera=" fate metolera=" va1.0; ][}N ,x codespams->teach-> deslaxp; LL;y codespams->teach-> deslayp; L_NElevels = ( } }*)amat->uv( co*y co*loat *)+) )e +e ;oords vs+blt })amat->uv2*loat *)ift)fclmo//imto va100000.0 E-/eshouldhbeolargestepos btd f} }butai'molazytNEemto va3.40282347e+38FaE-1-WKV 2003-07-28 Swap imaxmatl.0; 0;(y=0;dyteach->;odes,;oords ate memolevels[i]mat cstf(sample, odel, co(ate met(ih(tdvels[i]m imax) imaxmattdvels[i]ate me->][->][imaxm-->)emax-emto)*(1.0-tolera=" fate Num]ree(;oords aE-1-WKV 2003-07-28 Swa 0;(y=0;dy .0eolevels[i]mat1.0 L][ummelevels[i]m*=elevels[i]m*ttdvels[i]ate me->][->][_NE if;odes). r ifs zeof * i* anmerrorv/c urs. */= atrix * entries *cigetrmodel_ { (atrix *ies ie mi;odes, int *;oords orte ept p;e, atrix * entries *ci odelutNEirixxs ] =exutexauy(;odesvvsizeof( { , (chfat->uy8t "getrmodel_ { ():izeofm;odesllocate me ifuy8t "getrmodel_ { ():izeofm;oordindousllocate me if deslaxp; L][umm|| ;oords[1] < 0 ||L;oords[1]v> deslayp; orte me (chfat->uy8t "getrmodel_ { ():iblvalidix,y};oordindous: ocate me (chfat->uy8t "%d,%d, /*des; ums:m%d,rd, "Ce;oords[0], ;oords[1],o e e deslaxp; ,s deslayp; ;Neme ifout. Canhbeous/* =0;iboth * odeld { s (;odes) a vprin { s. * * (chspla iassocidou* withv odeld { s. * (seevla s.cmf0;iin+0 inmla s) --mAdd dmJune 11, 2003 (YeevLin Tao)Ei /=ue[i-(ch_ entset(atrix *ies ie miprinforte irixi; ,_rixla a /* ept p;e, atrix * entries *ciies y; ies *c= -ew] =_ies ie (prin,v&pcate whstd(ies y!=zeof( { , -1- csplay point in { v /* * +0;(i=0;i< entlades; um;i f ][umatpchfa"%.3f o,iies y->points[i]cate ;i , -1- csplay we tvo* { v /* * pchfa" wt:m%d o,iies y->we tcat , -1- csplay mask associdou* withv { vi* reare is o=em /* ih(ies *->maskfor ][ummepchfa" mask: ocate me* +0;(i=0;i< entlades; um;i f ][umatatpchfa"%d o,iies y->mask[i] ate ;i-> , -1- csplay la (s)vi* reare areoanym /* ih(ies *->num_la sfor ][ummepchfa" la : ocate me* +0;(i=0;;i f[{ la i= getries *_la s(ies *, i) L uy(la i!= LABEL_EMPTY) e -1-last la->xmindla iarray is alwaysvLABEL_EMPTYm / atpchfa"%s o,ii] =_conv_to_la (la )) L e[i][/ atb->mk1]e e me->][me->][mepchfa"llocate meies *c= nextries *(&pca -1-g0 inmtthe vanext { v /* ->][pchfa"%d to+alvees ie , "Ce entlanum_ees ie )ut} -1-R ifs le *mask array + } })aassocidou* withvle * * given entaies *c * --add dmJune 20, 2003 (YT) */= } }getrmask_ entries *(atrix * entries *ciies y, int co orte ifmaskut} -1-R ifs le *la iarray associdou* withvle *given * entaies *ca ma array o* atrto s. * --add dmJune 20, 2003 (YT) * Mat->u'e vanmextrn spot =0;i}m;izeofmpointerm }read fdLof } } . * --add dmJuly 22, 2003 (WKV) */= } }*get_la->x_ entries *(atrix * entries *ciies y, int num_la s) rte irixi,sla +e ;} } la s eszeof, *atr_la i= zeof;e ih(ies *->num_la sfor ][um//la s vs t->uvies *->num_la s*loat *);} *)cate e la s vs t->uvvies *->num_la s+1)*loat *);} *)cate e +0;(i=0;;i f[{ ][ummela i= getries *_la s(ies *, i) L][ummeih(ta i!= LABEL_EMPTY) { -1-last la->xmindla iarray is alwaysvLABEL_EMPTYm / atr_la i= i] =_conv_to_la (la ); la s[i]matatr_la 1]e e me->][meume[i][{ la s[i]matzeof;e b->mk1]e e me->][me->][->][ ifx_ entries *(atrix * entries *ciies y, ;} } la utue[i-add_la->x_ entries *(atrix * entries *ciies y, ;} } la utue[i-clearrla s_ entries *(atrix * entries *ciies ycat mat------------------itrainto mses umm jitialoado umvfuncakin m----------i*/= atrix *teach_pams_ uhters *;onatrix _teach_pams(atrix *ies ie mi;odes, ahortaalpha_ ode, ahortarmxtus_ ode)atue[i-freerteach_pams(atrix *teach_pams_ uhters * utint init_trainto _ses um(atrix *teach_pams_ uhters *pams, (+) alpha_0,(+) rmxtus_0,(loo mtdngth, (loo mqerror_w] =ow ;=trixsetup_snapshot(atrix *teach_pams_ uhters *pams, * } }snap(std_prefix,(loo m erval)at mat------------------- uhter manip*(do umvfuncakin m-----------------i*/=ue[i-setup_ uhters(atrix *teach_pams_ uhters *pams ;=ue[i-freer uhters(atrix *teach_pams_ uhters *pams ;=ue[i-upddour uhters(unsign/* ift *** uhters, int * urr_;oords, int *last_;oords ; =trixgetr g_t uhter(atrix *teach_pams_ uhters *pams, int *;oords ;=trixgetr naec_t uhter(atrix *teach_pams_ uhters *pams, int *;oords ;=trixgetrmax naec_t uhter(atrix *teach_pams_ uhters *pams, int *;oords ;==trixgetr g_m uhter(atrix *teach_pams_ uhters *pams, int *;oords ;=trixgetr naec_m uhter(atrix *teach_pams_ uhters *pams, int *;oords ;=trixgetrmax naec_m uhter(atrix *teach_pams_ uhters *pams, int *;oords ;==trixgetr uhter(atrix *teach_pams_ uhters *pams, int *;oords,eshorta ode, irix uhter_type at mat------------------itrainto / /pto m"uncakin m----------------------m*/= int *toput_one(atrix *teach_pams_ uhters *pams, e atrix * entries *cisample, shorta ode, e int *last_;oords, irixupddour uhter_flag ;=trix* /_one(atrix *teach_pams_ uhters *pams, e atrix * entries *cisample, e int *last_;oords, irixupddour uhter_flag ; int *train_one(atrix *teach_pams_ uhters *pams, e atrix * entries *cisample, e int *last_;oords, irixupddour uhter_flag ;= atrix * entries *citrain_"uma entset(atrix *teach_pams_ uhters *pams, e atrix *ies ie miprin,vahorta ode)utatrix * entries *cimap_"uma entset(atrix *teach_pams_ uhters *pams, e atrix *ies ie miprinfat mat------------------- trainto mtimto m"uncakin m----------------------m*/= ue[i-timto _start(atrix *teach_pams_ uhters *pams ; ue[i-timto _stop(atrix *teach_pams_ uhters *pams ; trixgetrtrainto _ ime(atrix *teach_pams_ uhters *pams ; -1--------------- funcakin mf0;iget to min+0 abou fSOMmatdoum----------m*/= +) getrirror(atrix *teach_pams_ uhters *pams ; } }*getractivdokin_levels(atrix *teach_pams_ uhters *pams, ( , blt *;oords,e+) rmxtus,vahorta ode); +) *get_levels_byrirror(atrix *teach_pams_ uhters *pams, ( atrix * entries *cisample, +) tolera=" futatrix * entries *cigetrmodel_ { (atrix *ies ie mi;odes, int *;oords ;=ue[i-(ch_ entset(atrix *ies ie miprinf; } }getrmask_ entries *(atrix * entries *ciies y, int co ;= } }*get_la->x_ entries *(atrix * entries *ciies y, int num_la s); # fdtfE-1-SOM_DEVROBS_Hm*/=pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .c0100755000076400003100000005225007514701134022346 0ustar dblankfaculty/************************************************************************ * vvvvvvvvvvvvvvvvvvvvvvvvvvv * * Progamipackage 'som_pak':vv * * vvvvvvvvvvvvvvvvvvvvvvvvvvv * * som_-ou .cvvvvvvvvvvvvvvvvvv * * -m-ou toest /*minvaome progamsminvaom_pak * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackage mayhbeosentmtthe va * * e-mail-address 'lvq@cochlea.hu .fi'. * * * ************************************************************************/ _#include _#include <+) .h>_#include _#include _#include _#include "lvq_pak.h"_#include "som_-ou .h"_#include " ent(std.h" -1---------------------------------------------------------------------*/= atrix *ies ie mi-a toit_;odes(atrix *ies ie miprin,virixt top, irixne , ( , irix( co, irixyp; { e loo mnoc,xi; ,_rixp; L][atrix *ies ie mi;odes;e, atrix * entries *ciies ;e, atrix * entries *ci avap, *mivd 1]e ept p;e, loo m}compcht v zeof;e nocdesxp; * y coutexauy ((;odesvvvat->c_ies ie ()) =sizeof(>][me{ , um+(chfat->uy8t "-a toit_;odes:vcan'tvat->cdoummemo *c=0;icodesllocate meme ifm e codes entlades; um; e deslades; umv=xp; L][ deslaflags.) dmode vmLOADMODE_Aof;ee deslaxp; = xp; L][ deslayp; vayp; L][ deslat top vst top L][ deslane c= ne at matat->cdoum debook*ies ie mi /* _entties vvvat->c_ies y(;odes)) =sizeof(>][me{ , um+(chfat->uy8t "-a toit_;odes:vcan'tvat->cdoummemo *c=0;icodebook* { llocate memeclose_ies ie (;odes)ate meme if][ deslaies ie m= ies ; 0; (ides1; i < noc; i f[>][me{ , umies lanextvvvat->c_ies y(;odes); , umies m= ies lanext L][ummeih ties vvsizeof(> b->mk1]e e }texauy (ies vvsizeof(>][me{ , um+(chfat->uy8t "-a toit_;odes:vcan'tvat->cdoumcodebookllocate memeclose_ies ie (;odes)ate meme ifL][ deslanum_ees ie c= nocate NummatFi vthe max; a vmtoim vd uus of prin Swa uy ((;ompcht v t->uvloat *)loo )m*ep; ) =sizeof(>][me{ , um+(chfat->uy8t "-a toit_;odes:vcan'tvat->cdoummemo *llocate memeclose_ies ie (;odes)ate meme ifL][ 0; (ides0; i < co Ei f ][um;ompcht[i]matl L me avapvvvat->c_ies y(prinf; me ivapvvvat->c_ies y(prinf; meuy (!( avapv&& mivap)(>][me{ , umclose_ies ie (;odes)ate meme;odesvvvzeof;ee goto end;ee;i->][[[[[L][ 0; (ides0; i < entlades; um; i f[{ ][um avap->points[i]desFLT_MIN;eeme ivap->points[i]desFLT_MAX; ][}N ,_entties vvv-ew] =_ies ie (prin,v&pc) =sizeof(>][me{ , um+(chfat->uy8t "-a toit_;odes:vcan'tvge * entllocate memeclose_ies ie (;odes)ate meme;odesvvvzeof;ee goto end;ee;i-> e whstd (ies v!sizeof([>][me{ , um+0; (ides0; i < co Ei f L uy (!((ies lamask !sizeof([&&aties lamask[i]d!si0 )(> me{ ][um;ompcht[i]++at ummeih t avap->points[i]d< ies lapoints[i]c e avap->points[i]desies lapoints[i]at ummeih t ivap->points[i]d> ies lapoints[i]c e ivap->points[i]desies lapoints[i]at um->][meumees vvvnextries *(&pcate ;i->L][ 0; (ides0; i < co Ei f ][umih t;ompcht[i]masi0 , um+(chfat->uy8t "-a toit_;odes:vwaifto !m;omponentm%dmhasLno prin,vusto m0.0llo,s+blt)(id+ 1f)ate NummatRa maoat read { vd uus Swa ies vvv-ew] =_ies ie (;odes, &pcate whstd (ies v!sizeof([{ , +0; (ides0; i < co Ei f r ][ummeih t;ompcht[i]m>i0 ies lapoints[i] v ivap->points[i]d+ ][ummeeeeet avap->points[i]d- ivap->points[i])m*e()+) )morard() / 32768.0); , umilse ies lapoints[i] v l.0; ][um->][um;learries *_la s(ies cate meies c= nextries *(&pcate NN end: meih t;ompcht , ]ree(;ompcht ate +reerees *(mivap)ate +reerees *(maval)at me if(;odes)at} -1---------------------------------------------------------------------*/= ue[i-normaloau( } }*v, irixn { e } }sum=l.0; ][irixj; 0; (j=0;djuvn*e*loat *)+) )e +/* _entw =sizeof(>][me if<1;NL][ 0; (i=0;di][umnormaloau(w+i*n, ncate NNummemcpy(v, w, n*e*loat *)+) )e + ]ree(we + if<0at}e atrix * entries *cii] =_e en { s(atrix *ies ie miprinf { e irixn= entlades; um; e } }*r=( } })mat->uvn*n*loat *)+) )e + ]} }*m=( } })mat->uvn*loat *)+) )e + ]} }*u=( } })mat->uv2*n*loat *)+) )e + ]} }*v=( } })mat->uv2*n*loat *)+) )e + ]} }mu[2]1]e atrix * entries *cipt , *tmp;e, +) aumutNEirixxs j;e, loo m}k2, k1]e ept p;e, } }maskut/* _entr==zeof ||Lm==zeof ||Lu==zeof ||Lv==zeof ) goto everror +L][ 0; (i=0;di][mer[i]=l.0; ][ 0; (i=0;di][mem[i]=l.0; >][k2 v t->uvn *loat *)loo )f; meuy (k2 vsizeof(>][megoto everror +ummemset(k2, 0, n]* soat *)loo )f; ,_enttpt =-ew] =_ies ie (prin,v&pc) =sizeof(>][me{ , um+(chfat->uy8t "i] =_e en { s:vcan'tvge * entllocate memegoto everror +um;i->L][ 0; (k=0;dps v!sizeof; k++,dps =nextries *(&pc(>][me{ , ummask =dps ->maskut , um+0; (i=0;di me{ ][umm[i]+=ps lapoints[i]a -1-maskedm;omponentsmhavt read d uu 0vaoireay e don'tvaffec }readsumm / at][k2[i]++at um}+um;i->L][uy (k<3) goto everror +L][ 0; (i=0;di][me{ , um+(chfat->uy8t "i] =_e en { s:vcan'tvge * entllocate memegoto everror +um;i->L][ 0; (;dps v!sizeof; ps =nextries *(&pc(>][me{ , ummask =dps ->maskut , um+0; (i=0;diL][ 0; (i=0;diL][ummemcpy(u, v, 2*n*loat *)+) )e + ->L][uy (mu[0]==0.0 ||Lmu[1]==0.0) goto everror +e Numps c= tmpvvvat->c_ies y(prinf; me emcpy(tmplapoints, m, n*loat *)+) )e +/* 0; (i=0;di<2 Ei f r ][umtmplanext=at->c_ies y(prinf; meumtmp=tmplanext; ][umih ttmpvvsizeof(>][meme{ +(chfat->uy8t "i] =_e en { s:vcan'tvat->cdoum { llocat goto everror +um;ium}+um;i emcpy(tmplapoints, u+n*i, n*loat *)+) )e +umt( 0; (j=0;djc_ies ie ()) =sizeof(>][me{ , um+(chfat->uy8t "Can'tvat->cdoummemo *c=0;icodesllocate meme ifme codes entlades; um; e deslades; umv=xp; L][ deslaflags.) dmode vmLOADMODE_Aof;ee deslaxp; = xp; L][ deslayp; vayp; L][ deslat top vst top L][ deslane c= ne at][ deslanum_ees ie c= number_of_;odes;e ummatFi vthe middleppoint an* two e en { sio* rea prin Swa;i eani= i] =_e en { s(prinf; meuy ( eani=sizeof( { , (chfat->uy8t "lintoit_;odes: Can'tvi] = e en { sllocate meclose_ies ie (;odes)ate me ifcdoum debook*ies ie mi /* _entties vvvat->c_ies y(;odes)) =sizeof(>][me{ , um+(chfat->uy8t "lintoit_;odes: can'tvat->cdoummemo *c=0;icodebook* { llocate memeclose_ies ie (;odes)ate meme if][ deslaies ie m= ies ; 0; (ides1; i < number_of_;odes; i f[>][me{ , umies lanextvvvat->c_ies y(;odes); , umies m= ies lanext L][ummeih ties vvsizeof(> b->mk1]e e }texauy (ies vvsizeof(>][me{ , um+(chfat->uy8t "lintoit_;odes: can'tvat->cdoumcodebookllocate meme+reerees *s( eancate memeclose_ies ie (;odes)ate meme ifL][matIjitialoau e vaujits /* ies vvv-ew] =_ies ie (;odes, &pcate i =ex =L0ate whstd (ies v!sizeof([{ , xf es4.0m*e(+) )m(] =ex %sx co o/ v( co - .0eo-s2.0;ee;iyf es4.0m*e(+) )m(] =ex /sx co o/ vy co - .0eo-s2.0;e ][][ 0; (ides0; i < co Ei f r ][ummeies lapoints[i] v eanlapoints[i] ][ummeeeeeeeeeee+ xf *si en1lapoints[i]d+iyf *si en2lapoints[i]at;ium}+um;i;learries *_la s(ies cat umies m= nextries *(&pcate ;i] =ex++ate di mo+reerees *s( eancat me if(;odes)at} -1---------------------------------------------------------------------*/= +) hexa_ cst(int bx, irixby, int tx, irixty { e } }ret, diff;>me cff esbxo-stxutexauy (((byo-sty) %s2)d!si0 orte * _e ((byo%s2)d=si0 orte * e cff -ai0.5at;ium}+um;ie[i][{ , - cff +ai0.5at;ium}+um->][_NE v=xp;ffm*ep;ff;e, cff esbyo-sty + +ai0.75m*ep;ffm*ep;ff;e, v=x(+) )maqrt((doubtd) cat me if( cat}= +) r _ cst(int bx, irixby, int tx, irixty { e } }ret, diff;>me cff esbxo-stxutNE v=xp;ffm*ep;ff;e, cff esbyo-sty + +aip;ffm*ep;ff;e, v=x(+) )maqrt((doubtd) cat me if( cat}= matAdaptdo umvfuncakin =0;ibubbtd-ne borhoodm*/= ue[i-bubbtd_adapt(atrix *teach_pams *teach,vatrix * entries *cisample, int bx, irixby, +) rmxtus,v+) alpha { e loo mi =exut int tx, ty, ( co, y cout, atrix *ies ie mi;odes vsteach->;odesut, MAPDIST_FUNCTION *dist vsteach->m /dist;e, atrix * entries *ci;odetmp;e, VECTOR_ADAPT *adapt vsteach-> { _adapt;e, ept p;ee, xp; = deslaxp; LL;y codes deslayp; Le , _everbose(10 , +(chfat->uy8t "Beste tch in %d, rd, "Cebx, bycat me;odetmpvvv-ew] =_ies ie (;odes, &pcate i =ex =L0ate te whstd (;odetmpv!sizeof(>][me{ , umtx =L] =ex %sx coate memety =L] =ex /sx coate memeL][ummeih t cst(bx, by, tx, ty)duy8t "Adaptaujit %d, rd, "Cetx, ty)at adapt(;odetmp, sample, deslades; um, alpha at , }->][meum;odetmpvvvnextries *(&pcate ;i;i] =ex++ate }->} -1-Adaptdo umvfuncakin =0;igaus an ne bourhoodm*/= memeLue[i-gaus an_adapt(atrix *teach_pams *teach,vatrix * entries *cisample, int bx, irixby, +) rmxtus,v+) alpha { e loo mi =exut int tx, ty, ( co, y cout, } }ddut, } }alput, atrix *ies ie mi;odes vsteach->;odesut, MAPDIST_FUNCTION *dist vsteach->m /dist;e, VECTOR_ADAPT *adapt vsteach-> { _adapt;e, atrix * entries *ci;odetmp;e, ept p;ee, xp; = deslaxp; LL;y codes deslayp; L , _everbose(10 , +(chfat->uy8t "Beste tch in %d, rd, "Cebx, bycat me;odetmpvvv-ew] =_ies ie (;odes, &pcate i =ex =L0atte whstd (;odetmpv!sizeof(>][me{ , umtx =L] =ex %sx coate memety =L] =ex /sx coatL][ummeihverbose(11) +(chfat->uy8t "Adaptaujit %d, rd, "Cetx, ty)at , - dmat cst(bx, by, tx, ty)atL][ummealpvvvatpha * (+) )mexp((doubtd) (- dm*- dm/ v2.0m*ermxtusv*ermxtus))cate e meL][ummeadapt(;odetmp, sample, deslades; um, alp)atL][umme;odetmpvvvnextries *(&pcate ;i;i] =ex++ate }->} -1-som_trainto m- train a SOM. Rmxtusvo* rea ne borhoodmdecr ases te linearlym"umatrea jitiald d uu to o=ema vthe learnto mpameter te decr ases linearlym"umatit initiald d uu to zero.i*/= atrix *ies ie misom_trainto (atrix *teach_pams *teach { te zEIGH_ADAPT *adaptate WINNER_FUNCTION *i] =_w] ner =vteach->w] nerate ALPHA_FUNC}*getratpha =vteach->alpha_funcut int coate int bx] =, byindut, } }we tut, } }tra=, talput, atrix * entries *cisampleut, atrix *ies ie mi ent =vteach-> entut, atrix *ies ie mi;odes vsteach->;odesut, loo mtd,mtdngth vsteach->tdngthut, } }alpha =vteach->alphaut, } }rmxtusvvateach->rmxtus; , atrix *snapshot_in+0 }snapvvateach->snapshot; , atrix *w] ner_in+0 w] _in+0;e, ept p;ee, _entsetraom_paams(teach (>][me{ , um+(chfat->uy8t "som_trainto : can'tvset SOMmpametersllocate meme ifme adapt vsteach->ne _adapt;eexauy ((samplevvv-ew] =_ies ie (prin,v&pc) =sizeof(>][me{ , um+(chfat->uy8t "som_trainto : can'tvge * entllocate meme ifme codes deslades; um; meuy ( entlades; umv!esp; ][me{ , um+(chfat->uy8t " de*des; um (%d)d!si ent des; um (%d)llo,o e e co, entlades; umcate meme ifme ime(&teach->start_ ime) + ][ 0; (levvv0; l ][meme{ samplevvv-ew] =_ies ie (prin,v&pc;L uy (samplevvsizeof(> me{ ][um+(chfat->uy8t "som_trainto : couldn'tv-ew] = ent (%ld/%ldtiterdokin mdo=e)llo,mtd,mtdngth)at umum if][meum->L][umwe tv=dsample->we tat , -1-Rmxtusvdecr ases linearlymto o=em /* tra= at1.0v+ (-axtusv- .0eo*e(+) )m(tdngth - td) /e(+) )mtdngthut/* talpvvvgetratpha(td,mtdngth, alpha at , matI* rea samplevis we ted, we>][meuma odifype varrainto mrdoumaoire }we achievt readsame effec }as>][meumarepeatto mtha samplev'we t' imesm /* ih ((we tv>E0.0eo&&atuse_we ts(-1)) orte * e talpvvv1.0v- (+) )mpow((doubtd) (1.0v- talp), (doubtd) we tcatmeum->L][ummatFi vthe beste tch /* matI* fixedppoint an* is allowe vthen us/ire } d uu /* ih ((sample->fixedp!sizeof([&&atuse_fixed(-1)) orte * e matGet read d uusm"umatfixed-strix u;ei*/= meme bx] =v=dsample->fixed->xfixate memebyindv=dsample->fixed->yfixate me}+um;ie[i][{ L][ummeih ti] =_w] ner(;odes, sample, &w] _in+0, 1fmasi0 { e ihverbose(3) ][um+(chfat->uy8t "ignorto mempty samplevrd, "Cetd)ut megoto skiprteacha -1-ignor/mempty samplesm / }= meme bx] =v=dw] _in+0.] =ex %s deslaxp; LL;memebyindv=dw] _in+0.] =ex /s deslaxp; LL;me->L][ummatAdaptae vaujits /* meadapt(teach,vaample, bx] =, byind,}tra=, talp at ,skiprteach:L][ummatsav/*snapshot whent /*m /* ih ((snap([&&at(lev%*snap-> erval)d=si0 o&&atlem>i0 (>][meme{ ihverbose(2) ][+(chfat->uy8t "Savto msnapshot, rldtiterdokin , "Cetd)ut uy (save_snapshot(teach,vtd)(> me{ ][um+(chfat->uy8t "snapshot fastdd,m;ontinuto mteachto llocat um->][meum->L][umihverbose(1(>][memem(ch()loo )m(tdngth-td)(;ee}m ime(&teach->e =_ ime) + umihverbose(1(>][me{>][memem(ch()loo )m0); , um+(chfat->uy8t "llocate me->][ if(;odes)at} -1---------------------------------------------------------------------*/= mati] =_qerrorv- c > *(do/ quantiado umverror.m*/= +) i] =_qerror(atrix *teach_pams *teach { , } }qerror +umatrix *ies ie mi ent =vteach-> entut, atrix *ies ie mi;odes vsteach->;odesut, WINNER_FUNCTION *i] =_w] ner =vteach->w] nerate atrix * entries *cidtmp;e, atrix *w] ner_in+0 w] _in+0;e, ept p;e ,_rixldngth_knownut, loo mnod;ee, _entsetraom_paams(teach (>][me{ , um+(chfat->uy8t "i] =_qerror: can'tvset SOMmpametersllocate meme if<-1;ee;i->L][matScantalli entaies ius Swa qerrorvv l.0; ][ih ((dtmpvvv-ew] =_ies ie (prin,v&pc) =sizeof(>][me{ , um+(chfat->uy8t "i] =_qerror: can'tvge * entllocate meme if<-1.0 L][um}N ,_enttldngth_knowndes entlaflags.totldn_known (>][menoddes entlanum_ees ie ;e, else ][menoddes0 + ][ 0; (; dtmpv!sizeof; dtmpvvvnextries *(&pc( >][me{ , umih ti] =_w] ner(;odes, dtmp, &w] _in+0, 1fmasi0 ;ontinuea -1-ignor/mempty { si*/= meme = meme qerrorv+=maqrt((doubtd) w] _in+0.p;ffcate e meL][ummeih tldngth_known) ieverbose(1(> mem(ch()loo )mnod-- at , }N ,_entldngth_known) ][umihverbose(1(>][meme{ m(ch()loo )m0); +(chfat->uy8t "llocate meme->][_NE if(qerror)at} } }bubbtd_qerror(atrix *teach_pams *teach,vatrix * entries *cisample, int bx, irixby, +) rmxtus { e loo mi =exut int tx, ty, ( co, y cout, atrix *ies ie mi;odes vsteach->;odesut, MAPDIST_FUNCTION *mdist vsteach->m /dist;e, DIST_FUNCTION *dista=" vateach->dist;e, atrix * entries *ci;odetmp;e, ept p;e, } }d,}qerror + , xp; = deslaxp; LL;y codes deslayp; Le , _everbose(10 , +(chfat->uy8t "Beste tch in %d, rd, "Cebx, bycat me;odetmpvvv-ew] =_ies ie (;odes, &pcate i =ex =L0ate qerrorvv latte whstd (;odetmpv!sizeof(>][me{ , umtx =L] =ex %sx coate memety =L] =ex /sx coate e meL][ummeih tm cst(bx, by, tx, ty)duy8t "Adaptaujit %d, rd, "Cetx, ty)at dmat csta=" (;odetmp, sample, deslades; um)at matassum/ire }alpha =v1.0v / qerrorv+=md*dat , }->][meum;odetmpvvvnextries *(&pcate ;i;i] =ex++ate }-> if<(qerror)at} } }gaus an_qerror(atrix *teach_pams *teach,vatrix * entries *cisample, int bx, irixby, +) rmxtus { e loo mi =exut int tx, ty, ( co, y cout, } }ddut, } }alput, atrix *ies ie mi;odes vsteach->;odesut, MAPDIST_FUNCTION *mdist vsteach->m /dist;e, DIST_FUNCTION *dista=" vateach->dist;e, atrix * entries *ci;odetmp;e, ept p;e, } }d,}qerror + , xp; = deslaxp; LL;y codes deslayp; L , _everbose(10 , +(chfat->uy8t "Beste tch in %d, rd, "Cebx, bycat me;odetmpvvv-ew] =_ies ie (;odes, &pcate i =ex =L0ate qerrorvv l.0atte whstd (;odetmpv!sizeof(>][me{ , umtx =L] =ex %sx coate memety =L] =ex /sx coatL][ummeihverbose(11) +(chfat->uy8t "Adaptaujit %d, rd, "Cetx, ty)at , - dmatm cst(bx, by, tx, ty)atL][ummealpvvvexp((doubtd) (- dm*- dm/ v2.0m*ermxtusv*ermxtus))cate e meL][ummedmat csta=" (;odetmp, sample, deslades; um)at= meme qerrorv+=malpv*- v*- atL][umme;odetmpvvvnextries *(&pcate ;i;i] =ex++ate }->> if<(qerror)at} mati] =_qerror2v- c > *(do/ quantiado umverror ifpaep;fferentmway.m*/= +) i] =_qerror2(atrix *teach_pams *teach { , } }qerror +umatrix *ies ie mi ent =vteach-> entut, atrix *ies ie mi;odes vsteach->;odesut, WINNER_FUNCTION *i] =_w] ner =vteach->w] nerate zEIGH_QERRORmi; > _qerror +umatrix * entries *cidtmp;e, atrix *w] ner_in+0 w] _in+0;e, int bx] =, byind,xldngth_knownut, loo mnod;e, } }rmxtusvvateach->rmxtus; , ept p;ee, _entsetraom_paams(teach (>][me{ , um+(chfat->uy8t "i] =_qerror2: can'tvset SOMmpametersllocate meme if<-1;ee;i->L][matselec }ne borhoodm*/=umih tteach-> deslane c==azEIGH_GAUSSIAN(>][me{ , umihverbose(3) +(chfat->uy8t "qmode 1,igaus an ne bourhoodllocate memec > _qerrorvvvgaus an_qerrorate }-> else ][me{ , umihverbose(3) +(chfat->uy8t "qmode 1,ibubbtd ne bourhoodllocate memec > _qerrorvvvbubbtd_qerror;ee;i->L][matScantalli entaies ius Swa qerrorvv l.0; dtmpvvv-ew] =_ies ie (prin,v&pc;N ,_enttldngth_knowndes entlaflags.totldn_known (>][menoddes entlanum_ees ie ;e, else ][menoddes0 + ][ 0; (; dtmpv!sizeof; dtmpvvvnextries *(&pc( >][me{ , umih ti] =_w] ner(;odes, dtmp, &w] _in+0, 1fmasi0 ;ontinuea -1-ignor/mempty { si*/= , umbx] =v=dw] _in+0.] =ex %s deslaxp; LL;memebyindv=dw] _in+0.] =ex /s deslaxp; LL;mee = meme qerrorv+=mc > _qerror(teach,vdtmp, bx] =, byind,xrmxtus)ate e meL][ummeih tldngth_known) ieverbose(1(> mem(ch()loo )mnod-- ate;i->L][_entldngth_known) ][umihverbose(1(>][meme{ m(ch()loo )m0); +(chfat->uy8t "llocate meme->][_NE if(qerror)at} MAPDIST_FUNCTION *getrmap cstf(irixt top { , MAPDIST_FUNCTION *distat ,switch (t top ][me{ , casvaTOPOL_RECT:L][ummedist vsr _ cst LL;memeb->mk1]e e casvaTOPOL_HEXA:L][ummedist vshexa_ cst LL;memeb->mk1]e e casvaTOPOL_LVQ:L][umdefault:L][ummedist vszeof;ee b->mk1]e e }tme if< cst L} zEIGH_ADAPT *getrnadaptf(irixne { , zEIGH_ADAPT *nadapt;eexaswitch (ne ][me{ , casvazEIGH_GAUSSIAN:L][ummenadapt vsgaus an_adapt LL;memeb->mk1]e e casvazEIGH_BUBBLE:L][ummenadapt vsbubbtd_adapt LL;memeb->mk1]e e default:L][ummenadapt vszeof;ee b->mk1]e e }ttme ifmap cstf ][umih t(pams->map cstvvvgetrmap cstf(pams->t top )vvsizeof(>][meme if<1;NL][iy (!pams->ne _adaptf ][umih t(pams->ne _adaptvvvgetrnadaptf(pams->ne )vvsizeof(>][meme if<1;NL][ if<0at}epyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0ustar dblankfaculty#if =ef SOM_ROUT_H #=eftovaSOM_ROUT_H /************************************************************************ * vvvvvvvvvvvvvvvvvvvvvvvvvvv * * Progamipackage 'som_pak':vv * * vvvvvvvvvvvvvvvvvvvvvvvvvvv * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackage mayhbeosentmtthe va * * e-mail-address 'lvq@cochlea.hu .fi'. * * * ************************************************************************/ _#include "lvq_pak.h"_ type=ef } }zEIGH_QERROR(atrix *teach_pams *teach, ( atrix * entries *cisample, int bx, irixby, +) rmxtus ;= atrix *ies ie mi-a toit_;odes(atrix *ies ie miprin,virixt top, irixne , irix( co, irixyp; ; atrix *ies ie milintoit_;odes(atrix *ies ie miprin,virixt top, irixne , irix( co, irixyp; ; ue[i-normaloau( } }*v, irixn ; } }dotprod( } }*v, } }*w, irixn ; trixgam_schmidt( } }*v, irixn, irixe ; MAPDIST_FUNCTION hexa_ cst,sr _ cst, *getrmap cstf(iri ; zEIGH_ADAPT bubbtd_adapt,sgaus an_adapt, *getrnadaptf(iri ; atrix *ies ie misom_trainto (atrix *teach_pams *teach ; +) i] =_qerror(atrix *teach_pams *teach ; +) i] =_qerror2(atrix *teach_pams *teach ; zEIGH_QERRORmbubbtd_qerror,vgaus an_qerrorattrixsetraom_paams(atrix *teach_pams *pams ; # fdtfE-1-SOM_ROUT_Hm*/=pyrobot/brain/psom/csom_src/som_pak-dev/test_devrobs.c0100755000076400003100000001666607712016012023207 0ustar dblankfaculty-1-test_devrobs.c * -------------- * a few-test mf0;ie va-ou toestinvaom_devrobs.c */ _#include _#include <+) .h>_#include _#include _#include "lvq_pak.h"_#include "som_-ou .h"_#include " ent(std.h" #include "la s.h"E-1-WKV 2003-07-28 Swa_#include "som_devrobs.h"_ ==trixmain( orte //atrix *teach_pams *pams;e, atrix *teach_pams_ uhters *pamsaE-1-WKV 2003-07-28 Swap atrix *ies ie mi;odes, * entut, atrix * entries *citoput, }output, }sampleut, +) points[5] v {13.57, 12.61,<-1.38,<-1.99, 399.77}ut, +) points1[5] v {19.58,<13.08,<-1.17, -0.84, 400.03}ut, +) points2[5] v {29.36, 38.69,<-1.10, -0.87, 405.21}ut, +) points3[5] v {19.82, 27.08,<-2.35,<-3.70, 404.86}ut, ahorta ask[5] v {0, 0, 1, 0, 1}ut, } }in_ entr=std = "ex. en", }in_;ode_(std = "ex.;od"ut, } }out_;ode_verify1 v "test1_verify.;od"ut, } }out_;ode_(std1 v "test1.;od"ut, } }out_;ode_(std2 v "test2.;od"ut, //irix*;oords,ei,sj, error;eeirix*;oords,e*last_;oords, i,sj, error;E-1-WKV 2003-07-28 Swap } }*levelsut, } }alpha =v0.02,}rmxtusvva4.0 L][loo mrlendes5000, ewindes100;eeirix codes5ut, } sysdo[200];e, ept p;e, } }rmxtus2,cii-a ge; m/xsets globa mpameters. imthinkmthis i m cessary...t, aet_globa s()at (chfa"testto mpckage aom_devrobs.c:\nllocat -test1: (chfa"-test 1:arrainto m"umat ent (std an* de*(std:llocate m/xopend ent an* de*(stds>][ ent =vopen_ies ie (in_ entr=stdf; meuy( ent =sizeof([{ , (chfa"-t ent (std %s could nottbeoopendd,maba mfto mtest 1llo,o e ein_ entr=stdf; memegoto test2;ee}m ;odes vsopen_ies ie (in_;ode_(stdf; meuy(;odes vsizeof([{ , (chfa"-t de*(std %s could nottbeoopendd,maba mfto mtest 1llo,o e ein_;ode_(stdf; memegoto test2;ee}m pams es natrix _teach_pams(;odes, LINEAR, LINEARf; meuy(pams esizeof([{ , (chfa"-t uld nottcr ate*teach_pams,maba mfto mtest 1llof; memegoto test2;ee}m init_trainto _ses um(pams,malpha, rmxtus,vrlen, ewinf; metimto _start(pams ; train_"uma entset(pams,mprin,vCYCLICf; metimto _stop(pams ; (chfa"-ttrainto mses umm;ompleted in %i-se nd , "Ce xgetrtrainto _ ime(pams ; (chfa"-tresultto mquantiado umverror: %f, "Cegetrirror(pams ; errorvv save_ies ie (;odes, out_;ode_(std1f; meuy(error) (chfa"-t uld nottcr ate*(std %s, "Ceout_;ode_(std2);e, else (chfa"-tresultto m de*(std savedmtth%s, "Ceout_;ode_(std2);e -freerteach_pams(pams ;E-1-WKV 2003-07-28 Swap close_ies ie (;odes)ate close_ies ie (prinf; me (chfa"-trunnto msom-pak de*({ verificdo um:llocate s(chfatysdo, e "./vsom -din %s -cin %s -cou f%s -rlend%i--alpha %f -rmxtusv%f, "C ein_ entr=std,ein_;ode_(stdCeout_;ode_verify1,vrlen, alpha, rmxtuscate systematysdo ; (chfa"-t;ompareo%s an* %s tthverify accuracyvo* rest 1llo,o eout_;ode_(std1Ceout_;ode_verify1);e -(chfa"-ttest 1m;ompleted\nllocat t -test2: (chfa"-test 2:arrainto m"umat ent (std, des initialoaudm"umat ent:llocate m/xopend ent (std>][ ent =vopen_ies ie (in_ entr=stdf; meuy( ent =sizeof([{ , (chfa"-t ent (std %s could nottbeoopendd,maba mfto mtest 2llo,o e ein_ entr=stdf; memegoto test3;ee}m ;odes vs-a toit_;odes(prin,vTOPOL_HEXA,azEIGH_BUBBLE, 12, 8 ; (ams es natrix _teach_pams(;odes, LINEAR, LINEARf; meuy(pams esizeof([{ , (chfa"-t uld nottcr ate*teach_pams,maba mfto mtest 2llof; memegoto test3;ee}m init_trainto _ses um(pams,m0.02,}4.0,s5000, 25f; metimto _start(pams ; train_"uma entset(pams,mprin,vCYCLICf; metimto _stop(pams ; (chfa"-ttrainto mses umm;ompleted in %i-se nd , "Ce xgetrtrainto _ ime(pams ; (chfa"-tresultto mquantiado umverror: %f, "Cegetrirror(pams ; errorvv save_ies ie (;odes, out_;ode_(std2f; meuy(error) (chfa"-t uld nottcr ate*(std %s, "Ceout_;ode_(std2);e, else (chfa"-tresultto m de*(std savedmtth%s, "Ceout_;ode_(std2);e -close_ies ie (;odes)ate close_ies ie (prinf; mefreerteach_pams(pams ;E-1-WKV 2003-07-28 Swap (chfa"-ttest 2m;ompleted\nllocat t test3: (chfa"-test 3: ) d ;odes "umatfitd, r ate* ent set dynamicdlly,llof; me(chfa"-tttttttttrain e vaSOMma few-times, ) okoa }activdokin std1 v9 (chfa"-tresultto m de*(stddslaxpen_ies ie (stddslaokoa }activdnt se3ein_ entr=stdf;y,llof; m t3;ee}m ;odes vs-a toit_;odes(prin,vTOPOL_HEXA,azEIhfa"-t3;etrix _teies *c r apu}texauke ( atrix * ;odes, *c raddtotrix _teix *teacpu} *c r apu}texauke ( atrix * ;odes,m - c raddtotrix _teix *teacpu} *c r apu}texauke ( atrix *_mum i_in,v&p ;odes,rix ,vTOin,vTOP,0 - c raddtotrix _teix *teacpu} *c r apu}texauke ( atrix * ;odes,3 - c raddtotrix _teix *teacpu} *c reout_;ode_(std1 _t:vedmtth%s, "Ctrix _teix *c > _qeapu}tex bourhoodllocate memec >v ", 0, 1, 0, ]e atrix 2 n*loat , ir - s ie (;odes, out_;ode_(s", 0, 1, 0,[0 p", 0, 1, 0,[1 p-1es ie (;odes, out_;ode_ atrix *(eapu}t][me{ , um+(c// 1, 0, ]eams esone toit_;odacpu} *c r de*, 0, ]eams esone toit_;odacpu}, 0, 0, 1, 0, 11ies ie (;odes, out_;ode_(suy ((!m0, 0, 1, 0, - ssssssssssssssssssssssssssssssss ie (;odes, out_;ode_(suy", 0, 1, 0, ]e 1, 0,- sssssssssssssssssssssssssssss ie (;odes, out_;ode_(suy-tresultto m deapu}tn_ entr=not+=fabi<][meIjitiultto m out"odacpu}t)(id+ 1f)at;-tresultto m \ntresmapnto mractiw] =,%d):t"od 1, 0,[0 od 1, 0,[1at;-trestd.h" szeof;eoctivdokin_lfew-timuhters *pntr=not+=fabi<][meIjitiultto m out"odtd.h" t)(id+ 1f)at;-tresultto m \nn_ entr=e e coacpu} entr=eapu}tex0; i < co Ei f r ][uv "test2texkllocatd"ut, sty + *)e atrix 2 n*loat *)+) )e +d"ut, [0 p5llocatd"ut, [1 p2 1,igausultto m d", 0smapp;od,to mractiw] =,%d):tfit 1, 0,[0 o 1, 0,[1at;-trs, "Ceout_;opyr tsdifypene b(samplev%.3f) SRNlose_ies ief; me, "test2c >v "prinfv-ew] = se_ies ie_"prinf toit_;od 1, 0, 1 "test2.;mat ent:llocror(pot+=fabiv "prinfv-ew] = se_ies ie_"prinf toit_;od 1, 0, 1 "test2.;mat en, loo mnoor(pot+=fabiv "prinfv-ew] ="prinf_bys5000, 25f; m =L] =ex %d"ut, [0 oor(pot+=fabiv "prinfv-ew] ="prinf_bys5000, 25f; m =L] =ex %0 vd uuot+=fabi ies lapters *pnties ld"ut, ror(pams ; errorvv save_iedin %s -cin %s -cou3) (chfa"-t uld notmmeih tams v( co t;-trs, "Ceoup } } (chfa"-t")ams *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstfams *teach ; zEIGH_QERRORmbubbtd_qerror,umatrrorattrixsetraom_paams(atrix *teach_pams *pams ; # fdtfE-1-SOM_ROUT_Hm*37367147pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0l * anext umat-tttvertcst(bxate mecloso mPS/EPScat t 1 * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackage maywholng *figumatr0;ie1}ut, usd i[ po-trumat-pyr t EPS/PScpit LL;mofcst(bxtfitdtrRequi[me{ops ief; me,dtr sulttooooooooooooooeapu}tte meclosat t me,dtrOps iesj, error;ee; me,dtr suosat tnxtussssssstd.h" sat tnxtus( }tme umvtd.)ams,maba suepipackage 'som_ptd.h" sEPScat t (ifyp }tme ) me,dtr supipackage 'som_pptd.h" sPScat t me,dtr suporams te 'som_pptd.h" sPScpit LL;mttoporams teract me,dtr su_srdscape 'som_pptd.h" sPScpit LL;mtto_srdscape ract me,dtr subtererage 'som_ppdraw btereraarouext +pfmasi0 me,dtr suonly v(se 'som_ppdraw only v( co me,dtr suno v(se 'som_ppor +um;idraw v( co me,maba suW(std2 vvvvvvvvvvwhi_iescia d me,dtr suB(std2 vvvvvvvvvvm_s8t "cia d me,dtr sutittrtrholngvvvvvto mtittrt( }tme umveapu}tte meclosnxtu)ams,maba su * ittrt'som_ppor +ddslas, "Cmtittrtplev onsPScpit LL;ams,maba suf f nxtussssPSca nxtuspose v( co me,dtr sua aumiestd2 vvva aumierel vege mayhbry, tx, tyanfmasi me,dtr supaper e-om_ppor *w] nepaper aumiesosePSctd.h" #iA4t( }tme ma A3 me,dtr suaverd innnnnnnnnnaverd in, 1fmmatrix me,dtr sumedm_paaaaaaaaaaamedm_paat [umm, 1fmmatrix me,dtr su nxtusspec-pak [umn vegMartscript me,dtre{ }d nex[umn21}ut, ps [ 0; 1}ut, newrholng(1}ut, tex[,or(atrix)amamrholng(rho)ties l(rho)) va-ous, "Cepi(FILE *fp"Cetx, tyepitut, }eut, toit_;s, "Cpd i(FILE *fp"Cetx, tyepitut, }eut, toit_;imd i_aumi(etx, tyepitut, },or(a to1}ut, ps_rholng_at [um(1}ut, tex[ toit_;1}un i_auffix(1}ut, ;od }ut, savtod }ut, mme papertut, }w] =papertby_nxtu(1}ut, rixyp; ; papertut, }w] =papertby_ido, irixbtd_adappaper(yp; ; papertut, * ec > it_;ouialeoct(1}ut, rixAPT ut, onspaper aumise;odetmpvvvnpapertut, papers[ po-tr{"A4s,mPAPER_A4#iA4WIDTH#iA4Hat eT},-tr{"A3s,mPAPER_A3#iA3WIDTH#iA3Hat eT},-tr{e{ 200 v {10}} > it_;utrix *uyrix *mtrix m }dduit_;sapert e-o=mPAPER_A4toit_;sd i_wid->w] A4WIDTHtoit_;sd i_he vastarA4Hat eTtoit_;or * = BESTtoit_;old_ loo i en1lapoi atrix *i en1epitwid->w] 100 1,igi en1epithih (samstd2 v "test0; 1}ut, a nxtus= DEFAULTFONT }*v, iri aumie=>uy8t "1}ut, tittrtxt; ][umi ( ates; = LMARGINtoit_;yes; = RMARGINtoit_;lmarg, } LMARGINtoit_;rmarg, } RMARGINtoit_;tmarg, } TMARGINtoit_;bmarg, } BMARGINtoAPT utteract } OUTPUT_EPS;e;odutteract } 0toit_; * ittrt ifmkdobtereraubbtd ->mkdrawblockfv-e1; ->mkdraw v( cov-e1; }*v, irwhi_i_"cia de{ , }*v, irm_s8t_"cia de{ 1,iga1}ut, xt; ][umi1}ut,at tnxtubuf[100 ]; va-ou toesa-ouargcod }ut, *argvbbtd_a12.61,<-1nxtut(std.1nxtut(sstdio.h>_#inmmatrix, umattdio.h>_#inepitut, each_pams *averd ina=" vaa-ou edm_paa=" vaFILE *td.1f+) i] =_qat ttut, }td.1fiedin ;E-1-W_ops ief(argcodargvbivdoki (ex[ract_ error;e(argcodargv, "u lps,mOPrix(2ER_FUNCTION *i]s, "C lp(deslaxp; exit(Cetd)ut LL;mee<-1nxtuzEIGH_ADAPTtd.1nxtu xt; ][umi , u }tme pelsutumieumvA4th.h>_#dappaper(w] =papertby_idoPAPER_A4; j ft u ersieargm}N ,_vdoki (ex[ract_ error;e(argcodargv, "ubterers,mOPrix(2ER_FUNCdobtereraubaom_paamsex[ract_ error;e(argcodargv, "uporams ts,mOPrix(2ER_FUNCor * = PORTRAITom_paamsex[ract_ error;e(argcodargv, "u_srdscapes,mOPrix(2ER_FUNCor * = LANDSCAPEom_paamsex[ract_ error;e(argcodargv, "upss,mOPrix(2ER_FUNCract } OUTPUT_PS;m_paamsex[ract_ error;e(argcodargv, "uepss,mOPrix(2ER_FUNCract } OUTPUT_EPS;m_pawhi_i_"cia de{ , iofsex[ract_ error;e(argcodargv, "uWs,mOPrix(),sizeo;m_pam_s8t_"cia de{ , iofsex[ract_ error;e(argcodargv, "uBs,mOPrix(),s0zeo;m_patd.1nxtu xtex[ract_ error;e(argcodargv, "uos,mOPrix()ivdoki (ract }l.0; FUNCract } ouialeoct(td.1nxtu)atrix *snap xtex[ract_ error;e(argcodargv, "ui s,mOPrix())kedmoffe nxtus= std ne aumie=>, iofsex[ract_ error;e(argcodargv, "u aumis,mOPrix(),s-1 vd uu ittrt iex[ract_ error;e(argcodargv, "u ittrs,mOPrix()ivdo_paamsex[ract_ error;e(argcodargv, "u * ittrs,mOPrix(2ER_FUNC * ittrt i1atrix *snap xtex[ract_ error;e(argcodargv, "upapers,mOPrix())kedmofTION *i]yp; ; papertut, }tv-ew] =papertby_nxtu(mih ti] =_ *sn(u, v, 2*n* ih ((dw] _in+0.] =ex /Un an_qpaper e-: ime(pmih ; exit(m -dixed->xfi#dappaper(petd)ut L_paamsex[ract_ error;e(argcodargv, "uaverd is,mOPrix(2ER_FUNCaverd ina=aom_paamsex[ract_ error;e(argcodargv, "u edm_ps,mOPrix(2ER_FUNCredm_paa=aom_paamsex[ract_ error;e(argcodargv, "uonly v(ss,mOPrix(2ER_FUNCdrawblockfv-e0om_paamsex[ract_ error;e(argcodargv, "uno v(ss,mOPrix(2ER_FUNCdraw v( cov-e0om_pan1nxtu xtex[ract_ error;e(argcodargv, IN_Cber_FILE#iALWAYS)atrix *snap xtw] env("UMAT_HEADERFILE"))kedmof xtsatrix *snap xtex[ract_ error;e(argcodargv, "u s,mOPrix())kedmof xtsatrix v( c_ * _{ , (1)atrix *snaumatex ai_inp(<-1nxtut( {10 ( , irix( co, irixyp; { e loo mi, numbede_(s medeslaxp; exit(1etd)ut L_pa!sizemmatrixaumatt( {10 atrix *snaverd iR_FUNCaverd iemmatrixaumat atrix *snredm_pR_FUNCredm_pemmatrixaumat atrix *snract }l.0; FUNCract } OUTPUT_EPS;m_pa *snor * == BESTR_FUNCor * = aumat->mtrix >= umat->mries ? LANDSCAPE : PORTRAITom_paams(td.1fi_pams( (td.1nxtut("w" ( , irix( co, irixyp; { e loo mi,IGH_QEstematd.h" sat ties ; 0; (ideumataumat atlaxp; exit(1etd)ut Lpatd.1ftv-efi2fp(td.1fi atrixeach_.umatexumattdioeach_. ittrt i ittrt?i ittrt:an1nxtuatlaxp; _pamd i_aumi(&e qerroCetd)ut uyrix *snract }l.OUTPUT_EPSirix( s, "Cepi(td.1ft, &eut, toy8t "qmode s, "Cpd i(td.1ft, &eut, to 0; (ideumataumat atlaumatex; ][umi , *snod.1fi mode or: % (td.1fi atrixeach_pams APT h (>ut, ab* *paper e-sge inxtu ;odetmpvvvnpapertut, }w] =papertby_nxtu(1}ut, nxtu)btd_ayp; ; papertut, }tivdo_pa botv-epapers; p->nxtu locate mepi f r ]s vsttr cascmp(p->nxtu,snxtu) }l.0; FUNCixeach_ppatrixeach_p; ][ums APT h (>ut, ab* *paper e-sge i e-oid ;odetmpvvvnpapertut, }w] =papertby_ido, ioid)btd_ayp; ; papertut, }tivdo_pa botv-epapers; p->nxtu locate mepi f r ]s vs] =vd }l.id)bFUNCixeach_ppatrixeach_p; ][ums Abtd_adappaper(yp; ; papertut, * ecbtd_asapert e-o=m] =vdpend e i_wid->w] pqerrdA_FUNCsd i_he vastarpqehih (sampleeach_pams Ait_;1}un i_auffix(1}ut, ;od }ut, savtod }ut, mme btd_a12.61,s1) i]cpy(savtods)ivdo_pas-1.1 i]rchr(savtod'.')ivdoki (s-1. ( , irix( ttr ct(savtodmme y8t "qmode i]cpy(s1odmme y8pleeach_pams A12.61,w] =date(isam btd_ae (;__;1ure (;a"-treure (;t i itu( , i;pleeach_pchverboeure (;)ums APT huial s, "Clngvract , else (cnxtus(EPS/PS) emeb->mkouialeoct(1}ut, nxtu)btd_a12.61,sivdoki (nxtu x ( , irix( each_pam_pas1.1 i]rchr(nxtu,s'.')ivdoki (s x ( , irix( each_pam_pastx, tys vsttr cascmp(;od"pss) }l.0; FUNCeach_pOUTPUT_PS;m_paamsttr cascmp(;od"epss) }l.0; FUNCeach_pOUTPUT_EPS;m_paeach_pams Ait_;s, "Cpd i(FILE *fp"Cetx, tyepitut, }eut, btd_adusv*, h, x;ody;odries p*, p_FUNC}*getrsca sca 1 sca could1}ut, tittr_rhotdio.h>_#inmmatrix, umat xteut, ->umattdiow xteut, ->rrdA_FUNCh xteut, ->hih (sampletittr_rho xteut, ->tittr;m_paamstittr_rho x %s! * ittr)kedmofwtmpv24edin %wv-epa i_wid->w-;lmarg, -;rmarg, FUNCshv-epa i_he vast-;bmarg, -;tmarg, to 0; p; { fp"C"%%!PS-Adobe-2.0\n%%%%Pl:hfa"-t p; { fp"C"%%%%Cpen_ms,mumat V1.0\na"-t p; { fp"C"%%%%Cpen_ %ss,mps_rholng_at [um(w] =date()));m_pa *snor * == LANDSCAPEirix( co, irixyp; { fp"C"%de*te[ransexp((90 ro eies ie (prinlmarg, + p*, bmarg, etd)ut uyec > _pwtd)ut uy%wv-ephtd)ut uy%>w] n +) n'tvset SOt uPORTRAITode_(suyco, irixyp; { fp"C"%de*te[ransexp(jits marg, , bmarg, etd)ut L_pasca 1 sty + )%wvy8t "som_wtd)usca c sty + )%hvy8t "som_htd)usca ]e in(sca 1 sca c);m_paxs1.1(%wv-usca * wof(>0. v "tys1.1(%hv-usca * hof(>0. v t p; { fp"C"gmegot%de*te[ransexp((%f dupusca ies ie (x;ody;odsca )atrix *snatittr_rho) x %s! * ittr)kedmofco, irixyp; { fp"C"gmegot/Helveticarixn,f 18dsca f adaf ies ; 0; p; { fp"C"0 adagray(%f %f 8mmervravetoies ie (print "som_ ,vTOeut, ->hih (s ; 0; p; { fp"C"(td s Dim:t->uySumi:t->**temasi0, tesr_in+0 w] _i)sampwies ie (prinps_rholng_at [um(tittr_rho), umat->rix *umat->mtrix, umat->mries ie (prinumat-> byind,xldngth_knownut, loo mnt?i"etraom_p"t:a"ene s ; 0; p; { fp"C"gravtorties ; e{ , us, "Cm +pfde_(std2f;epi(fp"Ceut, to 0; p; { fp"C"gravtortieampwpa iv0.02,}raeach_pams A 1}ut, newrholng(1}ut, tex[,or(atrix)btd_a12.61,st(ss2, tys vstex[ x ( , irix( each_p; ][umi , *snvedm<.0; FUNCco, irixyp; { e loo mi,w))cate:sr_g vegm+(chrholngv'%s' "Bestex[ to (prinlepaa=" va { si*/= }l.0; FUNClepaa=rholep(tex[ to (_pas1.1 atrix lepa+ 1)ivdoki (s x ( , irix( co, irixyp; { e loo mi,IGH_QEatrixCremory *holngv'%s' "Bestex[ to (prin(chfat->uy8t "so)ut uyr_pas2 xtsatatrix * e(*stx xt tex[i i;pleeach_ps2, LL;mit_;s, "C (FILE *fp"C1}ut, nxtu)btd_ait_;1) i] =_qat ttut, }fiedvaFILE * % umi , *sn nxtu)bix( co, irix *snafi_pams( (hnxtut("r" ( , ir ih ((dw] _in+0.] =ex /umatzEIGH_QE aiePSc ime(phnxtu)at paams(atrixixed->xfi % v-efi2fp(fi atd->xfirix * e(cv-efw] c( % )exauyEOF iu c(c,(dw atd->xfi or: % (fi atd->xtvset SOMmps, "Cplevi(fp"Cps atrixeach_pams APT lpvvvexp((md iutumie;odutteimd i_aumi(etx, tyepitut, }e qerrodusv*id->)btd_ayp; ; mmatrix, umat xteut, ->umattdi , *snwid->w<.] =eedmofwid->w] 100 atrixeach_->rrdA_ = rrdA_FUNCmedist vumat->verbose(1(> mem(ch()loo )mnod-- ate;ieach_->xstep sty + )rrdA_ y8t "som_umat->u ][menoddes0each_->ystep steach_->xstepenoddes0each_->he vastarumat->uco, y*0each_->ystepenoddes0each_->x0 steach_->xstepf(>0. v "tdes0each_->y0 steach_->ystepf(>0. v "tdes0each_->_;ode_vereach_->xstepf(>0. v "tdes0[umihverbose(1(>][meme{ m(ch()leach_->xstep sty + )rrdA_ y8t "som_(umat->u ][ma+ 1)ivdodes0each_->ystep steach_->xstepf(>ntlaf3)f(>0. v "tdes0each_->_;ode_vereach_->xstepf/>ntlaf3)enoddes0each_->he vastar(umat->uco, y-orvv*0each_->ystepa+ ate qeeach_->_;ode_enoddes0each_->x0 steach_->xstepf(>0. v "tdes0each_->y0 steach_->_;ode_enoddes0 b->mk1]e e }tme if< csdw] _in+0.] =ex /un an_qverboogyy8t "Besumat->verbosto (prin(chfa1enoddes0 b->mk1]e exed->xfirixeach_pams APT ps_rholng_at [um: escape pssspec-alC1}utacincluholng Rach_ps aed->(id+ er o ades;tic buermx * o=em /*escapedholng emeb1}ut, ps_rholng_at [um(1}ut, tex[ matIes;tic 1}ut,ps_rholng[1024]xfico, irixNCmedist vc) o, irixNCfico, irixNCose(1(>'(':o, irixNCose(1(>')':o, irixNCose(1(>'\\':o, irixNCos *stx xt'\\';o, irixNCos b->mk1]e eeeeeee }tme if< csNCos b->mk1]e eeeeeee}1]e eeeee*stx xtck1]e eee { *stx xt0atrixeach_pps_rholngfat->uy8us, "Cmanyepi obj] neof emeb->mks, "Cepi(FILE *fp"Cetx, tyepitut, }eut, desladescboorFUNC}*getrxstepody;tepod_;ode_enod ( atody, num v(srodould1}ut, v( c y8tut_;ode_(m2.61,s*w] n_verbo__#incraw_block__#invge * row__#in][+(row__) i] =_qerentmway.m*/= +) i] =_qmmatrix, umat xteut, ->umattdi ,][+(row__ xt"NL"L][ummedist vumat->verbos_qerror;ee;e(1(>][meme{ m(ch()ls*w] n_verbo__ xt"verbo_lapo"k1]e eeecraw_block__ xt"H"k1]e eeevge * row__ xt"XSH"k1]e eee[umihverbose(1(>][memenod-- ate;is*w] n_verbo__ xt"verbo_ ; "k1]e eeecraw_block__ xt"R"k1]e eeevge * row__ xt"XSR"k1]e eee[umihverbos }tme if< csdw] _in+0.] =ex /IGH_QEs, "Cmterboogyy8t "Besumat->verbosto (prin(chfa0enoddes0 b->mk1]e exe , ut_;ode_verepitwid->w=L0ate qentlaf3)f(>t "som_umat->mtrix);y(paxstep steach_->xstepenodystep steach_->ystepenod_;ode_vereach_-> "test0; , us, "Cmepi 1y(pa p; { fp"C"%%!PS-Adobe- EPSF- \na"-t p; { fp"C"%%%%BouexlngBox: 0 0 %de*tams,ma pao, irceil(each_->rrdA_I* r, irceil(each_->hih (s to (_pa p; { fp"C"%%%%Tittr: ime(%%%%Cpen_ms,mumat V1.0\na,ma paps_rholng_at [um(eut, ->tittr to (_pa p; { fp"C"%%%%Cpen_ %ss,mps_rholng_at [um(w] =date()));mpa p; { fp"C"%%%%Pl:h \na"-t p; { fp"C"%%%%Docucei+F a: ime(%%%%Docucei+N , F a: ime(s ie (fe nxtu,(fe nxtu"-t p; { fp"C"%%%%EndCducei+s\na"-t , uCOPY HEADERn+0;e, ints, "C (fp"C )irix( each_p1es ie _starde_-tr p; { fp"C"/;ode_(stds }t\n/xstep tds }t\n/ystep tds }t\ns ie (ein_;odexstepody;tep j ft uf adw] n (pa p; { fp"C"%%%%IF : ime(pfe nxtu"-t p; { fp"C"/fe nxtus/%ss }t\ns fe nxtu"-t >L][m aumie>s0zeo_qerro p; { fp"C"/fe aumietds }t\ns e aumi"-t p; { fp"C"adwf ies ; t p; { fp"C"/dobterera%ss }t\ns dobterera?t"vrue"t:a"fa SOuscate us, "Cmumat de_-tr p; { fp"C"/wtetds }t /btetds }t\ns ewhi_i_"cia d,am_s8t_"cia d to 0; p; { fp"C"/y 0 }t\n/xoff tds }t\n/yoff tds }t\na,ma paeach_->x0* reach_->he vast-0each_->y0));m_pa *sndrawblockfkedmoffer (yt ifuco, umat->uvalue[x][y]I* craw_block__);v=dw] _in+fp"C"%s\na,m][+(row__sto (prin}t , us, "Cm v( covde_-tr p; { fp"C"/y 0 }t\n/xoff tds }t\n/yoff tds }t\na,ma paeach_->x0* reach_->he vast-0each_->y0));m_pa *sndraw v( co)bix( co, irix an ne bourhoodllocumat-> byinmemec >v if< csder (yt ifmco, x}-tr p; { fp"C"][+\na"-t p; { fp"C"%%m][+eof EPScobj] nv0.02,}raeach_pams A 6137347022363 0ams *teach ; zEIGH_QERRORmbubbtd_qerror,umatr72161466pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0ank_INCLUDED_UMAT_H_m_INCLUDED_UMAT_H_ml * anext umatr * * o mPStttverterage 'som_pp 1 * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackkkkkkaywholnglims cmON 1mOFF 0mRHOMB 0{ mGON 1mX 1mY 2mAVERAGE 1mMED mnt2mDEFAULTFONT "Helvetica"detmpvvvnmmatrix,{ , ute meclos n+0;e, "Cm trix, mco, _#include "lvq_pak.h"_es ieayhbte meclosde_-tr ieayhbmmatrix, 0;e, "Cmutrix *uyrix;ssssssank_(s ][c;N , }in_;od*uvalue;ssssssssankvaluesth.h}toAPT e ][memay'map.c'th. detmpvvvnmmatrix,*atrixeumataisam ; ->mk (ideumatatmpvvvnmmatrix,*rixyp; ; mmatrix,* ai_inp(m2.61,inpch_pamt swapxamt swapy toit_;1sizemmatrixayp; ; mmatrix,*amt,or(a toisampswapeumatatmpvvvnmmatrix,*,amt,, irixbtd_averd iemmatrixa i] =_qmmatrix, umatrixbtd_redm_pemmatrixa i] =_qmmatrix, umatrixAPT e ][memay'medm_p.c'th.}*v, irmedm_p3t "som, "som, }in_;o);}*v, irmedm_p4t "som, "som, }in_;o, }in_;o);}*v, irmedm_p5t "som, "som, }in_;o, }in_;o, }in_;o);}*v, irmedm_p6t "som, "som, }in_;o, }in_;o, }in_;o, }in_;o);}*v, irmedm_p7t "som, "som, }in_;o, }in_;o, }in_;o, }in_;o, }in_;o);}uy8usaper aumisettopoii+s.-----A4Hat eT 841 --A4WIDTH 595--A3WIDTHA4Hat eT--A3Hat eT (2*A4WIDTH)}uy8usaper e-sgkayPAPER_A4 1mPAPER_A3t2m umarg, s r, opoii+s)gkayLMARGIN 36mRMARGIN 36mBMARGIN 36mTMARGIN 36m uor * sgkayPORTRAITo1mLANDSCAPE 2mBEST 0 , u }cior * of md iuba md iuaspect de_- uod.h" sract kayOUTPUT_PS uod.h" sPScpd iukayOUTPUT_EPSc2 uod.h" sEPScmd iu;odetmpvvvnpapertut, td_a12.61,nxtuatla, ioidatla, iorrdA_"C h (sam} pitut, td_ayp; ; mmatrix, umatFUNC}*getrrrdA_"C h (samNC}*getrxstepody;tepod_;ode_enod}*getrx0ody0ould1}ut, tittram} in(a,b) ((a) < (b ? (a) : (b )rix *ies ie _INCLUDED_UMAT_H_6137347022363 0ams *teach ; zEIGH_QERRORmbubbtd_qerror,v1sirrorattrixsetraom_paams(atrix *teach_pams *pams ; # fdtfE-1-SOM_ROUT_Hm*155671450pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0tv1sirr-;oordsayhb v( covof e "lvq_pe i hin tjor ty votlngvvvvv 3 * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackkkkkkay ax(a,b) (((a) > (b ) ? (a) : (b )r in(a,b) (((a) < (b ? (a) : (b )ries;tic 1}ut, usd i[ po-trv1si-;oordsayhb v( covof e "lvq_pe i hin tjor ty votlngtfitdtrRequi[me{ error;ee; me,dtr sulttoat tnxtusssssss tte meclosat t me,dtr fa"-tat tnxtusssssss t v( c No me,dtr sulo" sat tnxtussssss t v( c d.h" ste meclosat tnxtu me,dtrOps iesj, error;ee; me,dtr sunum v(st mgerage 's aximummnumberaof v( cov o aprogn o adte meclo me,dtr sssssssssssssssssssssssin,v&p. D}tme umv0 v givq_pall. me,dtr subuermx mgerage 's buermx ai No of ix *teac mgeraplevie cloi itu me,dtre{ }d n#include "lvq_paixn, lv( cs(devrobs.c */ _#incl.c */amt num v(ske de"testnoc,tnolamdexatla, ioi, 0,b_enod ( aix *lv( camd) i] =_qerentmway.m*te mries nclud= +) WINNER_FUNCrix( *winneraub.c */->rrnner) i] =_qe "lvq_pahfa"-.c */->clude "som_-ou e "lvq_pak.h"_a"-.c */->k.h"_e "som_-ou rrnnertut, rrn_ach_paom_-ou hitt wh hs coEIGH_ADAPTom_-ou hittmway.m*hitenod ( aampwor;eaa=" vatut_;ode etamsnum v(s <.0; FUNCnum v(sta=0atrixhfa"-.c */->clude "sk.h"_a"-.c */->k.h"_e etams bourhoodlloc byinmemec x ( , irix( each_p; ][um ifnoc xtcbyind,xumrhoodlloj ft uatrixxp((a hitt wh posea prod meclosmasi0;N , hs coEIcatrix noc,tn*loat om_-ou hitt wh )"-t >L][hs coE ( , irix( each_p; ][umi , er (ita=" i L][hs c[i] n ( , ir ih ((dw] _in+0.] =ex / numbeh (>hitt wh[%d]\na,mi fe (PT ereeuatrixxp(d>hitt whsvde_x((wix * e--i >= 0 f ix[u (idehitt wh(hs c[i])at csdes lhs c)at paams(at; ][umixed->x}- ft uS * ea prhfae "lvq_pa/trix *snaclud= + ne bourhoodllocate memecc x ( , irix( each_p; ][um ft uampwamsm ial or;eaonly *snumberaof hfain,v&pc;umv an_q(whenslaxp; * us No buermx acpu} pa/trixampwor;eaa=hf->flags.tot tn_ an_ivdoki (smpwor;eR_FUNC *laa=hf->xumrhoodlloj set SOMmp *laa=" vaa-dta=0atrixwix * eclud= + ][me{ , um+(cix *lv( cv-ew] =rix *_lv( c( lud= +02,}ra , *snwinnerc byinme lud= +memrrn_ach_ 11i }l.0; FUNCixstdf;skipehites iewinnera * fouext-> aprum a prodmponei+smxe of e e in,v&p wmx in,v&p off -> skip progmxe e e a/trixft uadd(a hit winn No masi's hitt wh poseayhbtlapr verhe FUNCix e e . Igno ia e e s a *btlapr (= empty v( c) a/trixftamdex = rrn_ach_.amdexatlapa *sndx *lv( cv!= LABEL_EMPTY) FUNCixaddehit(hs c[imdex],cix *lv( c02,}raskipehit:rixft uTakin, 1f0; irhfae "lyode_(suyclud= + ne0; i < co Ei f rftamdtx, tlapa *snsmpwor;eR_FUNCpa *verbar (i0 mw] _i nol-- f r { siverbar (i0 ix( co, irixmw] _i Cetd)ut uydw] _in+0.] =ex /ies ; e{ , uSo mtyhb v( ceof cd meclose "lvq_paccordo=em /d)ut uadw] n inNum v(sttelcovmpwm v( covcts aximumm o aprogn od)ut uadter * kte meclosin,v&p.v mean_pall a/trixte mrie ne bourhoodlloc byinmemec >v amdex = 0atrixwix * ete mrie ][me{ , utlapa *snnum v(s (0; FUNCix v(sta=hs c[imdex]->hoodlloj seset SOMmpix v(sta= in(hs c[imdex]->hoodllo,mnum v(s02,}ra , ureraveamevious v( cov, elste meclosin,v&p de_(suycstrr=rix *_lv( cs(te mrie02,}ra , er (ita=", hit a=hs c[imdex]-> i , ioi(ex[ract_ error;e(argcodargv, "ubuermxs,mOPrix(),s0)at num v( cov-e, ioi(ex[ract_ error;e(argcodargv, "unum v(ss,mOPrix(),si)ivdo_paaverbar (2kedmoffw] _in+0.] =ex /Dfae "lvq_pch aie, else (c %s\na,mcat t -test2: (hfa"-ams(pams ;E-1 t -test2: ( *sndx * x ( , irix( co, irixyp; { e loo mi,IGHQEstemadx * e (c '%s' "BesE-1 t -test2: (xp; exit(1etd)ut L_pa v( c_ * _{ , (1)atrix *verbar (2kedmoffw] _in+0.] =ex /Cd meclose "lvq_pah aie, else (c %s\na,mcate* ent set dynteach_pams(pams ;E-1-WKV 2003-07-28 Swap (chfa"-trix( co, irixyp; { e loo mi,IGH_QEstemanllocat t '%s' "BesE-1e* ent set dynamerror: %f, "Cegetrirror(pxp; exit(1etd)ut L_pa8 Swap (->verbo rix ][e!xtcbyind,rix ][, um+(cyp; { e loo mi,Dfanextte meclosin,v&povmegotdiermx "Cmo, ][c"t dynameaccact } 1enoddestdf;y,llof; m fi#dap ; errorvv&toit_;od 1yinme lud,buermxt dyn#daprorvv&toit_;);m_pa *snixn, lv( cs(&toit_;odnum v( co ( , irix( co, irixyp; { e loo mi,ixn, lv( cs fa sed\es ; 0;eaccact } 1enoddedestdf;y,llof; r { siverbar (2kedmoffw] _in+0.] =ex /Cd meclose "lvq_pahmegodm o e (c %s\na,mams ; (cht dyn#egorhoodlloc byinmeams ; (cht dotmmeih error: %f, "Cegetrirror(pms ; errorvv save_i ( each_pveaccact)ams *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffams *teach ; zEIGH_QERRORmbubbtd_qerror,v rrorattrixsetraom_paams(atrix *teach_pams *p7217pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0"v rh"ies;tic 1}ut,v [20 ]; v12.61,w] =v ()btd_ayw] _in+v "C"%s R%drodmp sed: im %ss,mSOM_VERSix(,mSOM_REVISix(,mt pa__DATE__,a__TIME__02,}raeach_pv ams *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffams *teach ; zEIGH_QERRORmbubbtd_qerror,v r1042172pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0SOM_VERSix( "SOM/LVQ_PAK 3.1 beta" SOM_REVISix( 134 *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstfffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffams *teach ; zEIGH_QERRORmbubbtd_qerror,vixn,rrorattrixsetraom_paams(atrix *teach_pams *p225131616pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0tvixn,rr-rixn, besCm +pf am erralipackage 'som_pp 3 * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackkkkkkolngmnkmax ax(x,y) ((x)<(y ? (y):(x))ix *ies->uy8---------------------------------------------------------------------------kisamps, "Cdescript (isam btd_aw] _in+" * wi prrepexp(dly ru initpaciz ,e[ra o=e\es ; w] _in+"nexttesC No cyc * elf-Organiz No M+pfalgor thm.\es ; w] _in+"\es ; w] _in+"I followo=em /*[ra o=em nxtu,m /*[esCm nxtu\es ; w] _in+"( * ebin, 1fsxtu) nextthin tpn#egom nxtusahn,v&p.\es ; w] _in+"Af[umm, 1mm /*[ e-oofn tpnerboogyy n,v&p, we pras\es ; w] _in+" /*[ e-oofnr_in+0 w] _i e ][995 x- nexty-o, ][\es ; w] _in+" verhen tpn#mp(stdb][ac mgers nextprermx ably x-o, ][\es ; w] _in+"#mp(stdb][largumm, * ey-o, ][.\es ; w] _in+"\es ; w] _in+"T /*[ra o=em donemmayhwo . FirsCmanyterero=emphasu\es ; w] _in+" s ually #mprtumm, * e followo=emtttvergo=emphasu.\es ; w] _in+"T /*numberaof [ra o=emcyc s,m /*[ra o=emrxp(s nex\es ; w] _in+" /*ry, tx, ty /*adap ahasahn,v&ppactoittely \es ; w] _in+"*tehmphasu1995 fixme{ oii+ qualDaters nextw h (so=emqualDaters\es ; w] _in+"nr ifeayhbterciapoexlng, error;ee wmx givq[.\es ; w] _in+"\es ; w] _in+"T /*qua Dz e _starumv3.mputpurpose ; n tpnnex\es ; w] _in+" /*besCm +pf(s atresCmqua Dz e _sta) umvegodm o\es ; w] _in+" /*givq[m . Ifeayhbverbar , error;euatriwdsayhbqua Dz \es ; w] _in+" _starumvgivq[m ose ; nactoitte erral.\es ; w] _in+"\es ; w] _in+"Af[umm, 1nneswepovmegotbeq[mgivq[m /*[ra o=embeg, s\es ; w] _in+"nextdepeexlng,o umie ty bl1mmitn tmitakinae"test itu.\es ; w] _in+"\es ; } "testw] = _i 12.61,*/amt n btd_adusvlepaa= }ould1}ut, trhotdio1}ut,rho[100]edin %] _in+"%s: ts ch02,}ratrho xtfw] s(dev,vleps vgd, etd)us vstrho x ( , irix( each_p(noe_i ( each_pv, ioi(dev,vnoe ; } }*getrw] =}*get 12.61,*/}*getrn btd_adusvlepaa= }ould1}ut, trhotdio1}ut,rho[100]edin %] _in+"%s: ts ch02,}ratrho xtfw] s(dev,vleps vgd, etd)us vstrho x ( , irix( each_p(noe_i ( each_pv iofsrho))ams A12.61,w] =rho 12.61,*/ btd_adusvlepaa= }ould1}ut, trho,, tmptdio1}ut,rho[100]edin %] _in+"%s: ts ch02,}ratrho xtfw] s(dev,vleps vgd, etd)us vstrho x ( , i co, ir%] _in+"CGH_QE aierequi[me{ me ; exit(1etd)u},}ratrho xtorhodupsrho)td)urie nettr hr(trho,,' ')ivdoki (rie ][m 12.6)( , irix( rie[0] xt'\0'td)urie nettr hr(trho,,'\n')ivdoki (rie ][m 12.6)( , irix( rie[0] xt'\0'td ( each_pvtrho)td} va-ou toesa-ouargcod }ut, *argvbbtd_aamt n t, bn t, _stato amt trix *y][menod "Cmverbo,nr_in+enod}*getralpha1od_;ode_1enod "Cmfixme,tw h (ssenod}*getralpha2od_;ode_2enod}*getrq _sta,rq _stab;d_a12.61,<-1 t -test2,1,<-1[esCtest2,1,ams ; (ch,,*atpha__) i] =_qe "lvq_pahfa"-GH_ADAPTom_-ou e "lvq_pa[esChfa"-GH_ADAPTom_-ou e "lvq_pak.h"_a"-; ][um om_-ou e "lvq_pak.h"__a"-; ][um om_-ou e "lvq_pa= +) i] =_q.c */ _#inc _#inenod"testbuermx,gm+(ch1,gm+(ch2,tnoc,tnodatla, ioqract) i] =_q. e-t wh . e-_= +) _star} 0to ;E-1-W_ops ief(argcodargvbivdos, "Cdescript (02,}ra * =tw] = _i "G vegt /*numberaof [rrali",s0)at cat t -test2 xtw] =rho "G vegt /*acpu}adx * e (c nxtu")at cat[esCtest2 xtw] =rho "G vegt /*acpu}a[esCm nxtu")at ams ; (ch xtw] =rho "G vegt /*od.h" srapeat t nxtu")atd)urerbo =urerbot e-(w] =rho "G vegt /*erboogyy e-")"-t >L][rerbo ==r][memeUNKNOWNi co, irsiverbar (2kedmof((dw] _in+0.] =ex /Un an_qerboogyy e-, us No lapogiesj me ; rerbo =u][meme{ mtd)u}, xldngth xldngt e-(w] =rho "G vegt /*r_in+0 w] _i e-")"-t >L][xldngth_knownutUNKNOWNi co, irsiverbar (2kedmof((dw] _in+0.] =ex /Un an_qr_in+0 w] _i e-, us No bue me ; xldngth nownutBUBBLEtd)u},}ra ][ma=tw] = _i "G vegt /*x-o, ][",s0)at y][ma=tw] = _i "G vegt /*y-o, ][",s0)at gm+(ch1a=tw] = _i "G vegt /*[ra o=emm+(chof rsCm ",s0)at alpha1a=tw] =}*get "G vegt /*[ra o=emitte of rsCm ",s0 vd uu_;ode_1a=tw] =}*get "G vegt /*ry, tx,"-tatrsCm ",s0 vd uum+(ch2a=tw] = _i "G vegt /*[ra o=emm+(chof setttdm ",s0)at alpha2a=tw] =}*get "G vegt /*[ra o=emitte of setttdm ",s0 vd uu_;ode_2a=tw] =}*get "G vegt /*ry, tx,"-tsetttdm ",s0 vd w] _in+"\es ; nod}ixme{= r, ire, ioi(ex[ract_ error;e(argcodargv, FIXPOINTS,mOPrix(),s0)at w h (ss{= r, ire, ioi(ex[ract_ error;e(argcodargv, Wat eTS,mOPrix(),s0)at buermx =>, ioi(ex[ract_ error;e(argcodargv, "ubuermxs,mOPrix(),s0)at atpha__ xtex[ract_ error;e(argcodargv, "-atpha_ e-",mOPrix()ivdoqract } , ioi(ex[ract_ error;e(argcodargv, "uqe e-",mOPrix(),s0)at gu: % xme( xme)ivdou: %w h (ss(w h (ss)atrix v( c_ * _{ , (1)atrix *verbar (2kedmoffw] _in+0.] =ex /Icpu}ae "lvq_pch aie, else (c %s\na,mcat t -test2: (hfa"-ams(pams ;E-1 t -test2: ( *sndx * x ( , irix( co, irixyp; { e loo mi,CGH_QEstemadx * e (c '%s' "BesE-1 t -test2: (xp; e_star} 1enoddedestdf;y,llof; r yn#dapbuermx( lud,buermxt drix *verbar (2kedmoffw] _in+0.] =ex /TesCme "lvq_pch aie, else (c %s\na,mcat[esCtest2)td)uresChfa"-ams(pams ;E-1[esCtest2)td)us vstesChfa" ( , irix( co, irixyp; { e loo mi,CGH_QEstema[esCmdx * e (c '%s' "BesE-1[esCtest2)td)uxp; e_star} 1enoddedestdf;y,llof; r yn#dapbuermx(tesChf,buermxt drixnoc xtxo, y*0y][menod L][xoc <.] =eedmofco, irixyp; { e loo mi,D(s ][c;ofn tpn(%de*t)pchinterci nv0., trix *y][m)td)uxp; e_star} 1enoddedestdf;y,llof; r yn L][xo, y<] =eedmofco, irixyp; { e loo mi,D(s ][c;ofn tpn(%de*t)pchinterci nv0., trix *y][m)td)uxp; e_star} 1enoddedestdf;y,llof; r yn L][atpha__irix( co, irix. e-_= +a=tw] =. e-_by=rho atpha_t wh,atpha__deslaxp; >L][. e-_= +->clud n ( , ir ih ((dw] _in+0.] =ex /Un an_qatpha*[ e-o%s\na,matpha__des ; e_star} 1en destdf;y,lloixed->x}-trt SOMmp. e-_= +a=tw] =. e-_by=id atpha_t wh,ALPHA_LINEARvd w _#in.atpha_ e- =ur e-_= +->vdpend e_#in.atpha_e =ur e-_= +->clude trixte m__a"-; ][um q _staba"-FLT_MAXat b * =t0to wix * e * i co, irsnit_randome * i, tlapa *verbar (2kedmof((dw] _in+0.] =ex /Initpacizo=emtt meclo medeslaxpslaxpk.h"_a"-randsnit_k.h"_( lud,verbo,nr_in+, trix *y][m)td)uxp8 Swap (chfa"-trix( [u{v=dw] _in+0.] =ex /E_starunitpacizo=emrandommtt meclo, ab*rto=e\es ; e_star} 1en stdf;y,llof; r r ynfi#dap ; errorvv&toit_;od 1yinmefa"-roCetd)ut #daprorvv&toit_;);m)ut e_#in.hfa"-clude "sxpslaxp e_#in.m+(ch=gm+(ch1;m)ut e_#in.atpha*=alpha1;m)ut e_#in._;ode_ver_;ode_1entlapa *verbar (2kedmof((dw] _in+0.] =ex /Tra o=em tp,tatrsCm od_m+(: %ldalpha: %t\na,ma palaxp e_#in.m+(ch, e_#in.atpha);m)ut k.h"_a"-[ra o=ev&toit_;);m_paxp e_#in.m+(ch=gm+(ch2;m)ut e_#in.atpha*=alpha2;m)ut e_#in._;ode_ver_;ode_2;tlapa *verbar (2kedmof((dw] _in+0.] =ex /Tra o=em tp,tsetttdm od_m+(: %ldalpha: %t\na,ma palaxp e_#in.m+(ch, e_#in.atpha);m)ut k.h"_a"-[ra o=ev&toit_;);m_paxp e_#in.hfa"-.csChf;tlapa *verbar (2kedmof((dw] _in+0.] =ex /Cpvvvexpo=emqua Dz e _sta\es ; nodxp8 Sqract >(0; FUNCixqe_star} ixn, qe_sta2v&toit_;);m)ut t SOMmpixqe_star} ixn, qe_stav&toit_;);m)ut noda"-.csChfd,xumrhoodlloj ftxp8 Sqe_star< q _stab) co, irixq _staba"-q _stato b * =t * j ftxp)urie nete m__to te m__a"-k.h"_e )ut k.h"_a"-n +) n'tvm)ut ks ; errorvv save_i)ut k.h"_a"-t->uy8t "ssiverbar (i0 ix( ((dw] _in+0.] =ex /%3d: %t\na,mn t, q _sta/t "som_ nod);m)ut not--td)u},}ra8 Swap (s ][me{ , rix( co, irix *verbar (2ke=dw] _in+0.]outx /Cd meclose "lvq_pahmegodm o e (c %s\na,mams ; (cht dyn)ut #egorhoodlloc byinnmeams ; (cht d, irix *verbar (1ke=dw] _in+0.]outx /S atresCme_star arandomms , %3d: %t\na,d, irixxxxxxxxxxxbn t, q _stab/t "som_ nod);m)ut }dotmmeihra8 Swap (s)m)ut ks ; errorvv savs: ( *sndx *)m)ut ks ; errorvtrirror(ps vstesChf)m)ut ks ; errorvtesChf)or(p ( each_pv _sta)ams A *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffams *teach ; zEIGH_QERRORmbubbtd_qerror,vi ualrrorattrixsetraom_paams(atrix *teach_pams *pams ; # fdtfE-1-SOM_ROUT_Hm*15331201pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0tvi ualrr-ixn,seams /*besCm +tch No masi,"-t tpnnexopyr t e (c * o=emaaplevm ose ; nacpu}ae e esE-e ; nplev the ordo=xp(s ty /*besCm +tch nextthinqua Dz e _star ax givq[ we prasmtyhb v( ceifeayhrs umv 3 * * som_-ou .hvvvvvvvvvvvvvvvvvv * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. * * * * All commei+se =" ifto mthis progamipackkkkkkaymes;tic 1}ut, usd i[ po-trvi ual-rixn, besCm +tch No masi, ose ; nhfae e \na,matrRequi[me{ error;ee; me,dtr sulttoat tnxtusssssss tte meclosat t me,dtr fa"-tat tnxtusssssss tacpu}adx * me,dtr fao" sat tnxtussssss tod.h" sat tnxtu me,dtrOps iesj, error;ee; me,dtr sunoskip oe0* skip hfain,v&pc; megota prodmponei+s me,dtr sssssssssssssssssssssssin,v&p off me,dtr subuermx mgerage 's buermx ai No of ix *teac mgeraplevie cloi itu me,dtre{ }d n n#include "lvq_pa3.mputp_vi ual1 t -(devrobs.c */ _#incl.c */mxe pala12.61,ams at t_nxtu"btd_adusvlepgth_ an_ivdo i] =_qerentmway.m*/lud= +) i] =_qe "lvq_pahfa"-.c */->clude "som_-ou e "lvq_pak.h"_a"-.c */->k.h"_e "som_-ou e "lvq_paiake_clude "som_-ou erentmway.m*iake_mway.e "som_-ou at t_ut, }fie "sWINNER_FUNCrix( *winneraub.c */->rrnner) i] =_qrrnnertut, rrn_ach_padusvempty v( = LABEL_EMPTYenod"testamdex,tnod, bMarenodtut_;ode etempty v( = ixn, tttv_vecxn,("EMPTY_LINEs ; nod/*runitpacizvm akine "lvq_ptabl-o+0;e,iake_clud*=alrixe errorvror(ps vsiake_clud*= ( , irix( co, irixyp; { e loo mi,CGH_QEatrixxp((memory, ose error\es ; 0;each_p; ][um ty}o 0; ake_clud->rix ][e= 3; 0; ake_clud->rerbo =uwap (->verbo; 0; ake_clud->xldngth cbyind,x_in+enod}ake_clud-> ][ma=tcbyind,x][menod}ake_clud->y][ma=tcbyind,y][mennod}ake_mway.m=alrixe erysiake_cludror(ps vsiake_mway.m= ( , irix( co, irixyp; { e loo mi,CGH_QEatrixxp((memory, ose akine "ly\es ; 0; (ide errorviake_cludror(p 0;each_p; ][um ty}ood}ake_clud->e "lvq_p= iake_mway.e nod/*rstemaod.h" sat to+0;e,iia"-ams(at t(ams at t_nxtumi,w"ror(ps vsiichfa"-trix( co, irixyp; { e loo mi,IGH_QEstema * od.h" : '%s' "Besams at t_nxtu"; 0; (ide errorviake_cludror(p 0;each_p; ][um ty}oood}ake_clud->iia"-fie "s iew NOe of od.h" sat to+0;e,w NOe (fi, iake_cludror ft uS * ea pricpu}ae "lvq_.o+0;e,clud= + ne bourhoodllocate memec;m_pa *sn(lepgth_ an_aa=hf->flags.tot tn_ an_)R_FUNC *daa=hf->xumrhoodlloj set SOMmp *dta=0atrixwix * eclud= + ][me{ , uMmp ubMar = rrnnerc byinme lud= +);y(pa , *snwinnerc byinme lud= +memrrn_ach_ 11i }l.0; FUNCix{ ie mpty e e a/t ieSavegt /*tlaprDate aextteordo=xp(s a/t s] =rix *_lv( c(iake_mway.,tempty v()es ie v( covde_xiake_mway.->poii+s[0] xt-1en iake_mway.->poii+s[1] xt-1en ieAextthinqua Dz e _starde_xiake_mway.->poii+s[2] xt-1.0lof; r r r rt SOMmpix{ bMar = rrn_ach_.amdexat amdex = w] =rix *_lv( c(rrn_ach_.winner ; t ieSavegt /*tlaprDate aextteordo=xp(s a/t 3.0 =rix *_lv( cs(iake_mway.,trrn_ach_.winner ;s ie v( covde_xiake_mway.->poii+s[0] xtbMar %tcbyind,x][men iake_mway.->poii+s[1] xtbMar /tcbyind,x][men ieAextthinqua Dz e _starde_xiake_mway.->poii+s[2] xtsqrt(rrn_ach_.dier)lof; r r r r iew NOe newae "lyode_(suyw NOe erysii, iake_clud, iake_mway. ; nodxp uTakin, 1f0; iricpu}ae "lyode_(suyclud= + ne0; i < co Ei fa , *snlepgth_ an_R_FUNCpa *verbar (i0 mw] _i ("tes_ nod-- f r { sisnlepgth_ an_R_FUNCsiverbar (i0 ix( (({ mw] _i ("tes_ })ou=dw] _in+0.] =ex /ies ; ty}o 0; (ide errorviake_cludror ( each_pvcludrors A a-ou toesa-ouargcod }ut, *argvbbtd_a12.61,<-1 t -test2;d_a12.61,<-1e* ent se;d_a12.61,ams t -test2;d_a i] =_qe "lvq_pahf,pak.h"_e i] =_q.c */ _#inc _#inenod ( aeaccact,tnoskipenod"testbuermxatrixhfa"-k.h"_a"-; ][um eaccact } 0to if;E-1-W_ops ief(argcodargvbivdoki (ex[ract_ error;e(argcodargv, "u lps,mOPrix(2ER_FUNCTION *i]s, "C lp(deslaxp; exit(Cetd)ut L locat t -test2 xtex[ract_ error;e(argcodargv, IN_DATA_FILE#iALWAYS)at r ate* ent se xtex[ract_ error;e(argcodargv, IN_Cber_FILE#iALWAYS)at ams t -test2 xtex[ract_ error;e(argcodargv, OUT_DATA_FILE#iALWAYS)at rbuermx =>, ioi(ex[ract_ error;e(argcodargv, "ubuermxs,mOPrix(),s0)at noskip = (ex[ract_ error;e(argcodargv, "unoskips,mOPrix(2E ][me{ ,atrix v( c_ * _{ , (1)atrixhfa"-ams(pams ;E-1 t -test2: ( *sndx * x ( , irix( co, irixyp; { e loo mi,CGH_QEstemadx * e (c '%s' "BesE-1 t -test2: (xp; eaccact } 1enoddedestdf;y,llof; r do_paaverbar (2kedmoffw] _in+0.] =ex /Cd meclose "lvq_pah aie, else (c %s\na,mcate* ent set dynteach_pams(pams ;E-1-WKV 2003-07-28 Swap (chfa"-trix( co, irixyp; { e loo mi,IGH_QEstemanllocat t '%s' "BesE-1e* ent set dynamereaccact } 1enoddedestdf;y,llof; r { si Swap (->verbo rix ][e!xtcbyind,rix ][, um+(cyp; { e loo mi,Dfanextte meclosin,v&povmegotdiermx "Cmo, ][c"t dynameaccact } 1enoddestdf;y,llof; m (#dap ; errorvv&toit_;od 1yinme lud,buermxt dyn#daprorvv&toit_;);m , u oese0* skip mpty e e s( *swpackag 0;e, L][xoskip)_(suyclud->flags.skipe mpty =t0to hfa"-k.mputp_vi ual1 t -(&toit_;odams t -test2) dotmmeih ( *sndx *)m)ut ks ; errorvtrirror(ps vsv savem)ut ks ; errorvv save_i)ueach_pveaccact)ams *pams { e iy (!pams->map cstf ][umih t(pams->map cstvvvgetrmap cstffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffams *teach ; zEIGH_QERRORmbubbtd_qerror,vbbtrrorattrixsetraom_paams(atrix *teach_pams *pams ; # fdtfE-1-SOM_ROUT_Hm*143611476pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0tvbbtrr-Vi ualDz e elf-Organiz No M+pf 3 1 7 Ap * * - header =std 0; SOMm-ou toest * * * * Vers umv3.0 * * Date: 1 Mar 1995 * * * * NOTE: This progamipackage is copyr ted in le *senaepleateit * * mayhbeous/* =0;isciiesific purposes. The package a ma whole, or * * pspe vreof,vcannottbeo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyoits producei+s. * * No progamsm ntained in tmis package mayhbeocopi/* =0;icommercial * * cstribuo um. beo jcluded or us/* ifpanymcommercial * * applicdo umvwithou fwrittenmpermts ummgrariedibyooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooaymmes;tic 1}ut, usd i[ po-trv -q.c */uadwf-organiz No maptfitdtrRequi[me{ error;ee; me,dtr sulttoat tnxtusssssss tunitpactte meclosat t me,dtr fa"-tat tnxtusssssss t.c */ No me,dtr sulo" sat tnxtussssss t d.h" ste meclosat tnxtu me,dtr su_m+( mgerage 's ru o=emm+(chof .c */ No me,dtr suatpha*}*getrsssssss tunitpactatpha*value me,dtr su_;ode_v}*getrsssssss unitpactry, tx, tyr_in+0 w] _i me,dtrOps iesj, error;ee; me,dtr surand mgerage 's s , poserandommnumberagenerav&p.v umv3urx "Cm itu me,dtr"-ixxme{{{{{{{{{{{{{{{{ fixme{ oii+s me,dtr s-w h (ss{{{{{{{{{{{{{{ w h (ss me,dtr subuermx mgerage 's buermx ai No of ix *teac mgeraplevie cloi itu me,dtr suatpha_ e- e- sss t. e-oofnatpha*dec as plevut,(def) tarunv e_t. me,dtrdtr susnnpch_psat tnxtusssssnnpsho sat tnxtu me,dtr susnnpac mrvaleac mgeraac mrvalebetweq[msnnpsho s me,dtre{ }d na-ou toesa-ouargcod }ut, *argvbbtd_a12.61,<-1 t -test2;d_a12.61,<-1e* ent se;d_a12.61,ams ; (ch) 12.61,snnpsho (ch) 12.61,atpha__, *rand__) i] =_qe "lvq_pahfa"-GH_A,pak.h"_a"-; ][um ( aeandomizuatla, iofixmeatla, iow h (ssenod i] =_q.c */ _#inc _#inenod"testbuermx =t0to "testsnnpsho ac mrvalenod i] =_qsnnpsho ac, }snnpa"-; ][um ( asnnp_ e-enod i] =_q. e-t wh . e-_= +) adusve_star} 0torixhfa"-k.h"_a"-; ][um if;E-1-W_ops ief(argcodargvbivdoki (ex[ract_ error;e(argcodargv, "u lps,mOPrix(2ER_FUNCTION *i]s, "C lp(deslaxp; exit(Cetd)ut L locat t -test2 xtex[ract_ error;e(argcodargv, IN_DATA_FILE#iALWAYS)att r ate* ent se xtex[ract_ error;e(argcodargv, IN_Cber_FILE#iALWAYS)at ams ; (ch xtex[ract_ error;e(argcodargv, OUT_Cber_FILE#iALWAYS)at xp e_#in.m+(ch=g, ioi(ex[ract_ error;e(argcodargv, RUNNING_LENGTH#iALWAYS),d, irixxxxxxxxxxxxxxxxxxxi)ivdo_pa e_#in.atpha*=aiofsex[ract_ error;e(argcodargv, TRAINING_ALPHA#iALWAYS) ; tt e_#in._;ode_veraiofsex[ract_ error;e(argcodargv, TRAINING_RADIUS#iALWAYS) ; i)ueand__ xtex[ract_ error;e(argcodargv, RANDOM,mOPrix()ivdoeandomizu=g, ioi(eand__,s0)at g}ixme{= rex[ract_ error;e(argcodargv, FIXPOINTS,mOPrix(2E ][me{ ,at w h (ss{= rex[ract_ error;e(argcodargv, Wat eTS,mOPrix(2E ][me{ ,atrixbuermx =>, ioi(ex[ract_ error;e(argcodargv, "ubuermxs,mOPrix(),s0)at atpha__ xtex[ract_ error;e(argcodargv, "-atpha_ e-",mOPrix()ivr ft usnnpsho sg 0;e,snnpsho (ch xtex[ract_ error;e(argcodargv, "-snnpch_p",mOPrix()ivdosnnpsho ac mrval xtd, ir, ioi(ex[ract_ error;e(argcodargv, "usnnpac mrvals,mOPrix(),s0)at snnp_ e- =noddes] = d_by=rho snnpsho t wh, paex[ract_ error;e(argcodargv, "usnnp e-",mOPrix())at gu: % xme( xme)ivdou: %w h (ss(w h (ss)atrix v( c_ * _{ , (1)atrix * (snnpsho ac mrvalR_FUNCTION *i] * (snnpsho (ch x ( , ir ih ((snnpsho (ch xtams ; (ch) ((dw] _in+0.] =ex /snnpsho sat te0* specDated, us No '%s'",msnnpsho (ch)loixed->x((snnp xtw] =rnnpsho (snnpsho (ch,osnnpsho ac mrval,snnp_ e-deslaxp; >L][snnp x ( , ir exit(1etd)ut L_pa8 verbar (2kedmoffw] _in+0.] =ex /Icpu}ae "lvq_pch aie, else (c %s\na,mcat t -test2: (hfa"-ams(pams ;E-1 t -test2: ( *sndx * x ( , irix( co, irixyp; { e loo mi,IGHQEstemadx * e (c '%s' "BesE-1 t -test2: (xp; e_star} 1enoddedestdf;y,llof; r yn Lverbar (2kedmoffw] _in+0.] =ex /Cd meclose "lvq_pah aie, else (c %s\na,mcate* ent set dynteach_pams(pams ;E-1-WKV 2003-07-28 Swap (chfa"-trix( co, irixyp; { e loo mi,CGH_QEstemanllocat t '%s' "BesE-1e* ent set dynamere_star} 1enoddedestdf;y,llof; r yn L][wap (->verbo rix ][e!xtcbyind,rix ][, um+(cyp; { e loo mi,Dfanextte meclosin,v&povmegotdiermx "Cmo, ][c"t dyname_star} 1enoddestdf;y,llof; m (#dap ; errorvv&toit_;od 1yinme lud,buermxt dyn#daprorvv&toit_;);m , e_#in.snnpsho s=snnpatt r ait_randomeeandomizuror ft utakin.c */ No in,v&pc;unerandommtererg 0;e, L][eand__)_(suyclud->flags.random_tererg} 1en yn L][atpha__irix( co, irix. e-_= +a=tw] =. e-_by=rho atpha_t wh,atpha__deslaxp; >L][. e-_= +->clud n ( , ir ih ((dw] _in+0.] =ex /Un an_qatpha*[ e-o%s\na,matpha__des ; e_star} 1en destdf;y,lloixed->x}-trt SOMmp. e-_= +a=tw] =. e-_by=id atpha_t wh,ALPHA_LINEARvd w _#in.atpha_ e- =ur e-_= +->vdpend e_#in.atpha_e =ur e-_= +->clude tt k.h"_a"-[ra o=ev&toit_;);m_pasiverbar (2kedmoffw] _in+0.] =ex /Cd meclose "lvq_pahmegodm o e (c %s\na,mams ; (cht dyn#egorhoodlloc byinmeams ; (cht dtmmeih er *sndx *)m)ut ks ; errorvtrirror(ps vsv savem)ut ks ; errorvv save_irix * (snnpkedmoff(idernnpsho (snnpror ( each_pv _sta)ams 6137347022363 0ams *teach ; zEIGH_QERRORmbubbtd_qe.i236577120160127725pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0 usbtddevs *s.hymco-------------ymcojune 14, 22ymcoDaniel Sproul,sproul@sccn.swarthmore.eduymco *btddevs *s.cymco---------------------------------- a/tr%modu(c QERRtr%{devs *s.hv( cot uWKV 23-07-28 a/t%s A //%c oii+er.i %r e-maps.i %carrays.i %array_e ][st "som, "somarray) %array_e ][st#mprt,#mprtarray) %array_e ][stii+,ii+array) %array_e ][st12.6od }utarray) %array_e ][st12.6*,12.6psomarray) //%c.i //%c 12.6) //%colngi //%colng_ d.h" _atrixxp( 12.61,*nme (idl*$1)) //%colng_ d.h" _atrixxp(_ umi 12.61,*xamt *sleps (idl*$1)) //paprDestamd }ut, *m o e ][s %r e-maptii)d }ut, *m v( ce{t amt i, umien /Checkx * umv t wht af(!PyL wh_Check($acpu} , u PyErr_SetSolng(PyExc_T e-E_sta,r"N* aut whs ; each_p; ][u oixe oisizu=gPyL wh_Sumi $acpu} at ar} 0to $1a=t 12.61,*) matrix((sizu+1)*sizuof 12.61,) ; (i=0; i< umie ii , u PyObjn,v *o=gPyL wh_GetItem $acpu}a ; af(PySolng_Check(o , mxe $1[i]=gPySolng_AsSolng(o ; t SO u PyErr_SetSolng(PyExc_T e-E_sta,r"L wh m/ps * olngss ; (idl$1 ; each_p; ][um ixe } $1[i]=g; ][um} //cstrnupdargum "Cmo.off(id updresour t trixxp(d whq[m /*wrapp ][ exits. %r e-maptf(idarg)d }ut, *m v( ce{t afl$1 (idl$1 ; } // o each_p v( cov, elst ][ %r e-mapt d.)d }ut, *m{t amt i;t aflarg2 }l.0; each_pPyL wh_New(Cetd $res=gPyL wh_New(arg2 ; (i=0; $1[i]][me{ e ii , u PyObjn,v *o=gPySolng_F elSolng($1[i] ; PyL wh_SetItem $res, i, o ; } } CYCLICdmof // [ra _, elo#da() RANDxxxxxxi // [ra _, elo#da() LINEARdmof // i] =_p ; errorvv) INVERSE_Txi // i] =_p ; errorvv) NO_TRAINof // acpu}_onev) TRAINofxxxi // acpu}_onev) REGULARdmof // w] =reg_tcoui+er(), w] =reg_mcoui+er() CONSECofxxxi // w] = ec_tcoui+er(), w] = ec_mcoui+er() MAX_CONSECo2 // w] =max ec_tcoui+er(), w] =max ec_mcoui+er() T[meme{ m 3 T[memeRECT 4 NownutBUBBLExxxi NownutGAUSSIAN 2 n n /co--------------- *btenhfaei] =_ureso--------------------------- a/trom_-ou erentmway.m um+(cy*getrs* oii+seslaxpun ][ TION *i] ntrs* v( c_array;ION *i] ntrs v( clof; r s v(lof; r#mprt num_ v(s of; r#mprt w h (s of; r#m_-ou erentmway.m*0; i of; r }ut,rs*in,v;xpslaxpom_-ou atx oii+ *fixmeatla}d n i] =_qe "lvq_pTION#mprt o, ][;ON *i] u ix ][e ty /*e "lyode_(s#mprt verbo; uterboogyy e-ode_(s#mprt x_in+e ur_in+0 uw] _i de_(s#mprt trix *y][meN *i] u ix ][s ty /*mapede_(s#m_-ou erentmway.m*3urx "C;i] u3urx "Cme "lyode_(s#m_-ou erentmway.m*hoodlloji] u oii+er df;y,"lvq_pa/o "testnum_ o d;ON *i] unumberaof plevie o dsE-e ,"lvq_pt wh /o "testnum_hoodlloji]*i] unumberaof ,"lvq_p hfaeetx * an_qde_(s#m_-ou {slaxpunsig * mate o ract) unsig * matetot tn_ an_;slaxpunsig * materandom_terer; slaxpunsig * mateskipe mpty; slaxpunsig * mate v( co_{ , ; sla} flags) adusvlape i]*i] uhowam eix s megota pre e s(beq[m de_(s#m_-ou at t_ut, }fiei] ue (c ut, ose (c utyr_ , /o "testbuermxa i]*i] uhowam plevie o eaaie, else (c etronemeix /o}d n i] =_q.c */ _#inc{_(s#mprt verbo;_(s#mprt x_in+e_(s#mprt atpha_ e-e_(sMAPDIST_FUNCrix( *mapa wh;i] u3pvvvexpviea whanceebetweq[mhwo masi_pa/o DIST_FUNCrix( *a wh;i] i]*i] u3pvvvexpviea whanceebetweq[mhwo in,v&pc;a/o NownutADAPTm*0;dngtadap ;*i] uadap sw h (ss{a/o VECTORtADAPTm*in,v&ptadap ;* uadap ronemin,v&p{a/o WINNER_FUNCrix( *winner;]*i] u ][ o e extwinneraa/o ALPHA_FUNC1,atpha_ ;o ALPHA_FUNC1,_;ode__ ; // devs *s mecks (cy*getr_;ode_e i]*i] uunitpactry, tx,( * OM)o+0;e,i*getralphae i]*i]] uunitpactatpha*value /o "testm+(che i]*i]] um+(chof .ra o=em /o "testcoui+; // 3urx "Cm ra o=em terav ,e by devs *s racDate s (cdoubl-oq _stat i]*i]] / devs *s e_star[racko=e;e,i*getre_sta_fa,v&p; // ditto adusvknne i]*i]] ur_aresCmr_in+0 uws de_(s#m_-ou e "lvq_pak.h"_) i] =_qe "lvq_pahfenod i] =_qsnnpsho ac, }snnpsho enodeix __qssom_p itumiendp itu;o}d n i] =_q.c */ _#in_coui+ernc{_(s#evrobs.c */ _#incl.c */ivdounsig * mate***tcoui+ers;* u3 [ra o=emcoui+erncp nllocde_(sunsig * mate***mcoui+ers;* u3 mappo=emcoui+erncp nllocde_(smatecoui+ern_x][menodmatecoui+ern_y][men}d n/co------------------- , els:o------------------------------cde_/co------------------------------------------------------------------- a/tr; iern i] =_qe "lvq_paams(pams ; }ut, nxtu"; ; iern isampks ; errorv i] =_qe "lvq_pae "lvq_"; ; iern #m_-ou erentmway.m* bourhoodlloc i] =_qe "lvq_pae "lvq_,dtut_;*p"; ; iern #m_-ou erentmway.m*0; i < co tut_;*p"; n/co------------------- , els:o------------------------------cde_/co------------------------------------------------------------------- a/tr; iern i] =_qe "lvq_pal o=it_k.h"_( i] =_qe "lvq_pahf,p "Cmverbo, i]*i]] amt n_in+, amt trix *amt y][m)td; iern i] =_qe "lvq_parandsnit_k.h"_( i] =_qe "lvq_pahf,p "Cmverbo, i]*i]] amt n_in+, amt trix *amt y][m)tdn/co------------------- , elsdevs *s.h:o---------------------------cde_/co------------------------------------------------------------------- a/tr; iern , iow NOe erlloc i] =_qe "lvq_pa byinme12.61,ams ; (ch"; ; iern isamp#dap;E-1-Ws(isam ; ; iern tut_;*w] =rut_(isam ; ; iern isamp (ide ut_(tut_;*)tdn/co--------------------- hfaeetxm ipvexpo][ e ][so----------------- a/tr; iern i] =_qe "lvq_pasnit_o#da(i"Cmo, ; ; iern isamp (ideo#da( i] =_qe "lvq_pa ; ; iern a-ouaddtoeo#da( i] =_qe "lvq_pahf,p#m_-ou erentmway.m*hoody"; ; iern #m_-ou erentmway.m*make_clud=rix *_w h (sed_in,v&pt "soms* oii+s, i]*i]] #mprt w h (s, #mprt *in,v *amt rix mxe pal }ut, * v( c ; ; iern isamp (ideo < co #m_-ou erentmway.m*hoody"; ; iern #m_-ou erentmway.m*make_clud=rix *t "soms* oii+s)tdn/co--------------------- v( cem ipvexpo][ e ][so----------------- a/t; iern a-ouixn, tttv_vecxn,(12.61,sho)td; iern 12.61,ixn, tttv_vec v((i"Cmxn, ; ; iern a-ounumber_of_lv( cs( ; ; iern isamp (idelv( cs( ; //; iern a-ou#dap v( c_o < co #m_-ou erentmway.m*hoody,l }ut, * v( c ; ; iern isampaddp v( c_o < co #m_-ou erentmway.m*hoody,l }ut, * v( c ; ; iern isampcstrrelv( cseo < co #m_-ou erentmway.m*hoody"; n/co------------------ [ra o=emseprogainitpaciz e ][so---------- a/tr; iern i] =_q.c */ _#in_coui+ernc* i] =_p ; errorvv i] =_qe "lvq_pa byinm i]*i]] s#mprt atpha_mact,t i]*i]] s#mprt _;ode__mact)am; iern isamp (ide ; errorvv i] =_q.c */ _#in_coui+ernc* ; ; iern a-ousnit_[ra o=e_seprogv i] =_q.c */ _#in_coui+ernc*toit_;o si*getralpha_0,cy*getr_;ode__0,c"testm+(chm i]*i]] "testq _sta_ bouow ; ; iern a-ou#daupernnpsho (si] =_q.c */ _#in_coui+ernc*toit_;o i]*i]] 12.61,snnpat t_prerix,d"testam mrvalRtdn/co------------------- coui+erem ipvexpo][ e ][so----------------- a/t; iern isamp#daupecoui+ern(si] =_q.c */ _#in_coui+ernc*toit_;)am; iern isamp (idecoui+ern(si] =_q.c */ _#in_coui+ernc*toit_;)am; iern isampupdxp(_coui+ern(unsig * mate***coui+ernamt *3urx_teordsmxe amt *last_teords ; ; iern a-ouw] =reg_tcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] = ec_tcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] =max ec_tcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] =reg_mcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] = ec_mcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] =max ec_mcoui+er(si] =_q.c */ _#in_coui+ernc*toit_;oamt *3eords ; ; iern a-ouw] =coui+er(si] =_q.c */ _#in_coui+ernc*toit_;o e amt *teords#mprt mact,tmatecoui+er_ e-desn/co------------------ [ra o=e/mappo=eme ][so---------------------- a/tr; iern amt *acpu}_onevsi] =_q.c */ _#in_coui+ernc*toit_;o #m_-ou erentmway.m*e e es#mprt mact,t e amt *last_teords,tmateupdxp(_coui+er_flag ; ; iern a-ou*map_onevsi] =_q.c */ _#in_coui+ernc*toit_;ot e #m_-ou erentmway.m*e e es e amt *last_teords,tmateupdxp(_coui+er_flag ; ; iern a-ou*[ra _onevsi] =_q.c */ _#in_coui+ernc*toit_;ot e #m_-ou erentmway.m*e e es e amt *last_teords,tmateupdxp(_coui+er_flag ; /* ; iern #m_-ou erentmway.m*[ra _, elo#da_oldvsi] =_q.c */ _#in_coui+ernc*toit_;ot e e #m_-ou e "lvq_pahf,p#mprt mact ; a/t; iern #m_-ou erentmway.m*[ra _, elo#davsi] =_q.c */ _#in_coui+ernc*toit_;ot e e #m_-ou e "lvq_pahf,p#mprt mact ; ; iern #m_-ou erentmway.m*map_, elo#davsi] =_q.c */ _#in_coui+ernc*toit_;ot e e #m_-ou e "lvq_pahfRtdn/co------------------- [ra o=emtimo=eme ][so---------------------- a/tr; iern isamptimo=e_ssom_(si] =_q.c */ _#in_coui+ernc*toit_;)am; iern isamptimo=e_ssop(si] =_q.c */ _#in_coui+ernc*toit_;)am; iern a-ouw] =[ra o=e_ itu(si] =_q.c */ _#in_coui+ernc*toit_;)amn/co--------------me ][so w] tDestamfo ab*ut OMqssoteo---------- a/tr; iern }*getrw] =e_stavsi] =_q.c */ _#in_coui+ernc*toit_;)am; iern "soms*w] =a vxpo][_lev cs(si] =_q.c */ _#in_coui+ernc*toit_;o amt *teordsy*getr_;ode_,p#mprt mact ; ; iern "soms*w] =lev cs_by=e_stavsi] =_q.c */ _#in_coui+ernc*toit_;o i]*#m_-ou erentmway.m*e e es "somstolerance ; ; iern #m_-ou erentmway.m*w] =mactl_in,v&pc i] =_qe "lvq_pa byinmeamt *3eords ; ; iern isamps, "Cd#da( i] =_qe "lvq_pahf)amn/co-------.csCDest------ a/tr; iern 12.61,w] =in,v_o < co #m_-ou erentmway.m*hoody,li"Cmo, ; r; iern 12.61,*w] =lv( c_o < co #m_-ou erentmway.m*hoody,la-ounumelv( cs ; //; iern isamp oo 12.61,*n ; ams *teach ; zEIGH_QERRORmbu[esCtQERR.p010075500007640000ams ; # fdtfE-1-SOM_ROUT_Hm*171011026052410 #20465pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0#impprt QERRt#impprt sys impprt ams *te.ch ; .EIGH.tQERR QERRt, elsams *te.ch ; .EIGH impprt _ptr#da defusnit_ "som_array(myt wh): nitems=gm+((myt wh) #each_pQERR.ptrc ate(" "som",0,nitems) each_pQERR.new_ "somarray(nitems) defusnit_#mprt_array(myt wh): nitems=gm+((myt wh) #each_pQERR.ptrc ate("#mprt",0,nitems) each_pQERR.new_#mprtarray(nitems) defusnit_ "Carray(myt wh): #uWKV 23-07-28 nitems=gm+((myt wh) each_pQERR.new_ii+array(nitems) defubuild_ "som_array(myt wh): myarr=gsnit_ "som_array(myt wh) t wh_vecarr(myt wh,myarr) each_pmyarr defubuild_#mprt_array(myt wh): myarr=gsnit_#mprt_array(myt wh) t wh_vecarr(myt wh,myarr) each_pmyarr defubuild_ "Carray(myt wh): #uWKV 23-07-28 myarr=gsnit_ "Carray(myt wh) t wh_vecarr(myt wh,myarr) each_pmyarr defut wh_vecarr(myt wh,myarr):t ar} 0 m tem,"-t yt wh:t #ptr#da(myarr, tem,i) _ptr#da(myarr, tem,i) ar} i+1 each_pmyarr defuptrvalue(myarr, i):t afmyarr[-5:] }l.' "som': each_pQERR. "somarray_w] tem(myarr, i) elafmyarr[-5:] }l.'#mprt': each_pQERR.#mprtarray_w] tem(myarr, i) elafmyarr[-3:] }l.' "C': each_pQERR.ii+array_w] tem(myarr, i) else: eaise T e-E_sta,rmyarr defubuild_t wh(myarr,nitems): myt wh = [] m ;unerange(0,nitems): myt wh.app nd(ptrvalue(myarr,i)) each_pmyt wht """ Mogodm o [esCm3 (WKV 23-07-28) p0 xtbuild_ "som_array([13.57, 12.61,t-1.38,t-1.99, 399.77]) p1 xtbuild_ "som_array([19.58,t13.08,t-1.17, -0.84, 400.03]) p2 xtbuild_ "som_array([29.36, 38.69,t-1.10, -0.87, 405.21]) p3 xtbuild_ "som_array([19.82, 27.08,t-2.35,t-3.70, 404.86]) in,v xtbuild_#mprt_array([0,0,1,0,1]) """ QERR.#dap;E-1-Ws() cat t -test2 xt"ex.h" ate* ent se xt"ex.e* " ams ; (ch1 xt"[esC1.e* " ams ; (ch2 xt"[esC2.e* " atpha* xt0.02 ry, tx, xt4.0 _m+( * xt5Hm* bo * xtams _;ode_2a=t2.0 defu[esC1(): # [esCm1: # OM's racel in,v&pc;ah aie"-ta elsex.e* . OMqi n [ra odmus No # a d#da c atedta elsex.d. Af+er dra o=e, racel in,v&pc;ahmegodm o # [esC1.e* .e ois, "Ct"[esCm1: k.h"_a, else (c, dra a, else (c"ois, "Ct"----------------------------------------"oihfa"-kERR.ams(pams ;E-1 t -test2:t afndx * x ("e{ "): s, "Ct"\ndx * e (c " +ocat t -test2 + " could * amse " each_p1t 3.h"_a"-kERR.ams(pams ;E-1 ; (ch"t afnwap (ch"e{ "): s, "Ct"\nnllocat t " +ocate* ent se + " could * amse " each_p1t _#inc"-kERR. i] =_p ; errorvv byinme1ERR.LINEARme1ERR.LINEAR"t QERR.iiit_[ra o=e_seprogvtoit_;otatpha,r_;ode_,prleps bo"t QERR.timo=e_ssom_(toit_;)t QERR.tra _, elo#davtoit_;othf,pQERR.CYCLIC"t QERR.timo=e_ssop(toit_;)t eix "-kERR.w] =[ra o=e_ itu(toit_;)t s, "Ct"[ra o=emseprogak.mple ", itumi"setttds" e_star} kERR.w NOe erlloc byinmeams ; (ch1"t afn _sta): s, "Ct"\nat t " +oams ; (ch1 + " could * NOTE:" each_p1t , "Ct" d.h" s NOTE: o " +oams ; (ch1t , "Ct" mverDate ,tsee [esCddevs *s.ct d.h" " # cstrnupt QERR.ks ; errorvtrirrt QERR.ks ; errorvv savem QERR. (ide ; errorvvtoit_;) #uWKV 23-07-28 ois, "Ct"[esCm1 succesfullyak.mple " each_p0 defu[esC2(): ois, "Ct"[esCm2: dra a, else (cod 1yingsnit. , els"ois, "Ct"----------------------------------------------"oihfa"-kERR.ams(pams ;E-1 t -test2:t afndx * x ("e{ "): s, "Ct"\ndx * e (c " +ocat t -test2 + " could * amse " each_p1t 3.h"_a"-kERR.randsnit_k.h"_( lud,kERR.T[meme{ m,kERR.NownutBUBBLE,12,8)t _#inc"-kERR. i] =_p ; errorvv byinme1ERR.LINEARme1ERR.LINEAR"t QERR.iiit_[ra o=e_seprogvtoit_;otatpha,r_;ode_,prleps bo"t QERR.timo=e_ssom_(toit_;)t QERR.tra _, elo#davtoit_;othf,pQERR.CYCLIC"t QERR.timo=e_ssop(toit_;)t eix "-kERR.w] =[ra o=e_ itu(toit_;)t s, "Ct"[ra o=emseprogak.mple ", itumi"setttds" e_star} kERR.w NOe erlloc byinmeams ; (ch2"t afn _sta): s, "Ct"\nat t " +oams ; (ch2 + " could * NOTE:" each_p1t , "Ct" d.h" s NOTE: o " +oams ; (ch2 # cstrnupt QERR.ks ; errorvtrirrt QERR.ks ; errorvv savem QERR. (ide ; errorvvtoit_;) #uWKV 23-07-28 ois, "Ct"[esCm2 succesfullyak.mple " each_p0 defu[esC3(): s, "Ct"[esCm3: k.h"_a, else (c, trir/dra adynamte lly, view SRN lev cs"ois, "Ct"----------------------------------------------------------------"o # Mogodm, elsabogouWKV 23-07-28 p0 xtbuild_ "som_array([13.57, 12.61,t-1.38,t-1.99, 399.77]) p1 xtbuild_ "som_array([19.58,t13.08,t-1.17, -0.84, 400.03]) p2 xtbuild_ "som_array([29.36, 38.69,t-1.10, -0.87, 405.21]) p3 xtbuild_ "som_array([19.82, 27.08,t-2.35,t-3.70, 404.86]) in,v xtbuild_#mprt_array([0,0,1,0,1]) t 3.h"_a"-kERR.ams(pams ;E-1 ; (ch"t afnwap (ch"e{ "): s, "Ct"\nnllocat t " +ocate* ent se + " could * amse " each_p1t _#inc"-kERR. i] =_p ; errorvv byinme1ERR.LINEARme1ERR.LINEAR"t QERR.iiit_[ra o=e_seprogvtoit_;otatpha,r_;ode_,prleps bo"t hfa"-kERR.snit_o#da(5"t QERR.addtoeo#da(hf,pQERR.make_clud=rix *tp0)"t QERR.addtoeo#da(hf,pQERR.make_clud=rix *tp1)"t QERR.addtoeo#da(hf, e #QERR.make_clud=rix *_w h (sed_in,v&ptp2, 3, in,v *5)"t pal ERR.make_clud=rix *_w h (sed_in,v&ptp2, 3, in,v *5 mxe [])) #uWKV 23-07-28 QERR.addtoeo#da(hf,pQERR.make_clud=rix *tp3))t s, "Ct"hfaeet:" QERR.s, "Cd#da(trirrt ois "-kERR.w] = ut_("t acpu}a"-kERR.r bourhoodllocate mep) tast_teords xtbuild_ "Carray([-1,-1]) #uWKV 23-07-28 oiwix *(acpu}a][meone): s, "Ct"acpu}:e,sE-pu}t #teords xtQERR.tra _onevtoit_;oampu} t teords xtQERR.tra _onevtoit_;oampu}, last_teords,t1) #uWKV 23-07-28 QERR.cele _ii+array(last_teords #uWKV 23-07-28 tast_teords xtteords #uWKV 23-07-28 t #poii+s xtQERR.tQERR.clud=rix *_poii+s_w] (ampu} t poii+s xtQERR.clud=rix *_poii+s_w] (ampu} t myt wh = build_t wh( oii+s,5"t d.h" s"-kERR.w] =mactl_in,v&pc byinme1eords s, "Ct"acpu}: [" mxe mpt,"-t yt wh:t s, "Ct"%.2f" % (pt), s, "Ct"]" af( d.h" s""e{ "): , "Ct" d.h" snull"t #poii+s xtQERR.tQERR.clud=rix *_poii+s_w] ( d.h" t poii+s xtQERR.clud=rix *_poii+s_w] ( d.h" t myt wh = build_t wh( oii+s,5"t , "Ct"maps o mactl: [" mxe mpt,"-t yt wh:t s, "Ct"%.2f" % (pt), s, "Ct"]e1eords: (e,sptrvalue(teords,0),sptrvalue(teords,1),s")"t e e =sE-pu}t acpu}a"-kERR.0; i < co p)t s, "Ct"tast mappo=empyr t followo=emgauproan SRN a vxpo][s:" lev css"-kERR.w] =a vxpo][_lev cs(toit_;od 1ords,t_;ode_2, #u tast_teords?mxe pal kERR.NownutGAUSSIAN) lev cs_t wh = build_t wh(lev cs,96"t QERR.cele _ "somarray(lev cs) #uWKV 23-07-28 QERR.cele _ii+array(last_teords #uWKV 23-07-28 t ar} 0 mlev c,"-tlev cs_t wh: af(i%24s"12): , "Ct" ", s, "Ct"%.2f" % (lev c), ar} i + 1 af(i%12 }l.0;: , "Ct""t s, "Ct"tast mappo=empyr t followo=emdynamte e_starSRN a vxpo][s:" lev css"-kERR.w] =lev cs_by=e_stavtoit_;ode e es0.0) lev cs_t wh = build_t wh(lev cs,96"t QERR.cele _ "somarray(lev cs) #uWKV 23-07-28 t ar} 0 mlev c,"-tlev cs_t wh: af(i%24s"12): , "Ct" ", s, "Ct"%.2f" % (lev c), ar} i + 1 af(i%12 }l.0;: , "Ct""t # cstrnup (mostlya NOTE: by WKV 23-07-28) marr"-ttp0,sp1,tp2, p3): QERR.cele _ "somarray(arr) QERR. (ide ut_(p"t QERR.cele _#mprtarray(in,v) t 3ERR.ks ; errorvv savem #QERR.ks ; errorvtrirrt QERR. (ideo#da(trirrt QERR. (ide ; errorvvtoit_;) ois, "Ct"[esCm3 succesfullyak.mple " each_p0 defucstrnup(): QERR. (idelv( cs( each_p0 e_star} [esC1() af( _sta): s, "Ct"[esCm1 abor " e_star} [esC2() af( _sta): s, "Ct"[esCm2 abor " e_star} [esC3() af( _sta): s, "Ct"[esCm3 abor " e_star} cstrnup() af( _sta): s, "Ct"Cstrnup had e_stas"o s, "Ct"[esCo=emcomple " 6137347022363 0ams *teach ; zEIGH___snit__.p0100755000076400000000000000ams ; # fdtfE-1-SOM_ROUT_Hm2212431026052410 #16420pyrobot/brain/psom/csom_src/som_pak-dev/som_-ou .h0100755000076400003100000000462007506137347022363 0# daniel sproul,june 24, 22y# racDatedojune 17, 22 (yeel an) EIGH imv pytho( mre o QERR.#o,xwixch imvitadwfp h_pa low-lev c Eytho( mre o om-pak c lich ry. prog (c umplecei+s. followo=emtlapres: # ERRt# in,v&pt# o#da # oii+ # a vxpo][s t, elsos impprt w] env impprt itumi e-st, elsaosixpath impprt ex whs impprt tQERR QERRt QERR.#dap;E-1-Ws() # n_i worry ab*ut n hange prog i]*i]] #cdoug, dr/ps tumi rog#dasf;E-1-W, error;ee i]*i]] #cahinvariGHQE, els o ERRt Qlapr PERRE_sta(Athole, -E_sta): """ Usodm o bouixxp(( * eathole, - rermx "e massig m "Cmfa (cdum+(cy ma EIGH objn,v. """ Qlapr Vn,v&pE_sta(Athole, -E_sta): """ Usodm o bouixxp(( * eathole, - rermx "e massig m "Cmfa (cdum+(cy ma in,v&p{objn,v. """ Qlapr D#daE_sta(Athole, -E_sta): """ Usodm o bouixxp(( * eathole, - rermx "e massig m "Cmfa (cdum+(cy ma d#da objn,v. """ Qlapr Poii+E_sta(Athole, -E_sta): """ Usodm o bouixxp(d( * eathole, - rermx "e massig m "Cmfa (cdum+(cy ma Eoii+ objn,v. """ Qlapr Ft tNotFound(IOE_sta): """ Usodm o bouixxp(( * eathole, - oese0* nxtusan ex who=eme """ # Heckspaddodm o reple tr#da,sptrvalue,sptrc ate e ][s # , elsaoii+er.ixwixch has(beq[mdeprexxp(d wi SWIG 1.3. c oii+er.i #qi newaSWIG oii+er lich rye0*w. Neodm o e ndma bet+er waym o #cdr;emCi e-s. 5 aso( Doug hecksp tast 3 m5 elecei+s #qipmyarr [ e-ois(beca SWIG enwap (c oii+ers o s, mi vC p e-s such amt *,cdoubl-o***,cnextt}ut, *m repreackaxpo][ pras * sp a u-W,value ty /* oii+er andma e- ag. F&pt# ex e es /*SWIG repreackaxpo][ ty /*abogou oii+ers tmilcloslike pr followo=e: _ams81012_p_ii+, _ams8e124_ppp_doubl-, f8ac_pp_t}ut. 5 se repreackaxpo][c;ah ty e- str"-tEytho(. defu_ptr#da(myarr,m tem, i):t """ G vn * earray,cnem tem, andma( dexmi rog ][ se m tem amto array etraosi ][ dexkage is Usors #mpuld * ev i rog ][.t """ s, "Ct"FIXME:e,smyarr,m tem, i afmyarr[-5:] }l.' "som': *i]] QERR. "somarray_s] tem(myarr, i,m temkedmofelafmyarr[-5:] }l.'#mprt': *i]] QERR.#mprtarray_s] tem(myarr, i,m temkedmofelafmyarr[-3:] }l.' "C': *i]] QERR.ii+array_s] tem(myarr, i,m temkedmofelafmyarr[-4:] }l.'t}ut': *i]] QERR.12.6psomarray_s] tem(myarr, i,m temk #cahray ty }utac+er oii+ersedmofelse: *i]] eaise T e-E_sta,rmyarr *i]] defu_ptrvalue(myarr, i):t """ G vn * earray andma( dexmi rog ][ each_p mvalue sv&pcdum+(cat dexraosi ][ Usors #mpuld * ev i rog ][.t """ afmyarr[-5:] }l.' "som': *i]] each_pQERR. "somarray_w] tem(myarr, i) dmofelafmyarr[-5:] }l.'#mprt': *i]] each_pQERR.#mprtarray_w] tem(myarr, i) dmofelafmyarr[-3:] }l.' "C': *i]] each_pQERR.ii+array_w] tem(myarr, i) dmofelafmyarr[-4:] }l.'t}ut': *i]] each_pQERR.12.6psomarray_w] tem(myarr, i) #cahray ty }utac+er oii+ersedmofelse: *i]] eaise T e-E_sta,rmyarr *i]] defu_ptrc ate( e-,gsnit, nitems): """ G vn *y e- andm numberaof lecei+smi rog ][ c atesedmof* earray ty /*specDatedy e- andmnumberaof lecei+s.t 5 snit, erroois(un Usors #mpuld * ev i rog ][.t """ af e- == "#mprt": *i]] each_pQERR.new_#mprtarray(nitems) dmofelaf e- == " "som": *i]] each_pQERR.new_ "somarray(nitems) dmofelaf e- == "ii+": *i]] each_pQERR.new_ii+array(nitems) dmofelaf e- == " }ut": *i]] each_pQERR.new_12.6psomarray(nitems) #cahray ty }utac+er oii+ersedmofelse: *i]] eaise T e-E_sta,r e-t QERR.ptrc ate =u_ptrc ate QERR.ptr#da = _ptr#da QERR.ptrvalue =u_ptrvalue defut wh_vecarr(myt wh, e-d: """ F ][ o tttvert a Eytho( t wh amto a c ahray/ oii+er. Usors #mpuld * ev i rog ][.t t PARAMSt yt wh: Eytho( t wht e- s:t. e-oofnt wh elecei+s """ nitems=gm+((myt wh) yarr=gQERR.ptrc ate( e-,0,nitems) ar} 0 m tem,"-t yt wh:t*i]] QERR.ptr#da(myarr, tem,i) *i]] i += 1 each_pmyarr defuarr_vec wh(myarr,nitems): """ F ][ o tttvert a c ahray/ oii+er amto a Eytho( t wh. Usors #mpuld * ev i rog ][.t t PARAMSt yahr: c ahray/ oii+ert e- :t. e-oofnahray elecei+s """ """ WKV 23-07-28 t myt wh = [] m ;unerange(nitems): myt wh.app nd(QERR.ptrvalue(myarr,i)) """ myt wh = [0] * nitems m ;unexrange(nitems): myt wh[i]=gQERR.ptrvalue(myarr, i) dmofeach_pmyt wht ################################################################################# #mtlapr: EIGH # ################################################################################# Qlapr EIGH: defu__snit__(adwf, trix='u set' *y][m='u set' *verbo='hex 'o i]*in_in+='gauproan', atpha_mact='plevut', _;ode__mact='plevut', i]*im=0.0, _max=1.0, ][m='u set' *d='u set' *e='u set'): """ EIGH:u__snit__() *i]] ---------------- EIGH i] =_or Inageneral, i] =_ma EIGH,ainitpaciz m t, n [ra /mapm o bt, periodte llycdoo=emsomet/ No wi m n mxpo][ it, yr t . PARAMS: trix *y][m :tx andmyu ix ][s ty /*map verbo :uterboogyy ty /*mape('hex ' m'rect'. 'hex ' by default.) *i]] n_in+ :ur_in+0 w] _it. e-o('gauproan' m'bubbl-'. 'gauproan' by default.) *i]] atpha_mact :u ][ gogo* No pre*dec as ,"-tlea* No rate ('plevut' m'unv e_t'. 'plevut' by default.) *i]] _;ode__mact:u ][ gogo* No pre*dec as ,"-tpre*ry, tx, tylea* No effn,v. ('plevut' m'unv e_t'. 'plevut' by default.) *i]] _m,_max :um d max values poserandommsnit, ty OMqracel in,v&pc (0.0 d 1.0 by default) *i]] ][m :um+(chof OMqracel in,v&pc hfa :ud#da c * o=ems e hfain,v&pc; * OMainitpaciz t se :u.e* t se c * o=emracel in,v&pc; o bee o dsE- o OM USAGE: 1.e o eaaieamsom's racel in,v&pc;, elsau.e* t se (sxtusch_psa mxp *i]] inspak): >>>myIGH = EIGH(e=at tnxtu) *i]] 2.e o c ate amsom wi racel in,v&pc;ev nlycd whole, pe ofna pre-ex who=emhfaeet: >>>myIGH = EIGH(trix y][m,d=myd#da) *i]] 3.e o eandomlycinitpaciz >>>myIGH = EIGH(trix y][m,d[m=d) *i]] - mvalues ty /*macel in,v&pc;wpuld beegeneravodmus No pre*default *i]] _m d rmax values wixch ah0.0 d 1.0 respec vlyc. or >>>myIGH = EIGH(trix y][m,d[m=d,m=range_m,_max=range_max) *i]] - mvalues ty /*macel in,v&pc;wpuld beegeneravodmus No r*specDatedym *i]] a d rmax values. """ aflatpha_mact=='unv e_t'): atpha_mact =gQERR.INVERSE_T else: *i]] atpha_mact =gQERR.LINEAR afl_;ode__mact=='unv e_t'): _;ode__mact =gQERR.INVERSE_T else: *i]] _;ode__mact =gQERR.LINEAR aflat t!='u set'): af ex whslat t): #uIGH atedta els.e* t se,uIG *yr_ , o EpecDayu ixc 3.h"_a"-kERR.ams(pams ;(ch"t adwf. _#inc"-kERR. i] =_p ; errorvv byinmeatpha_mact,t_;ode__mact)t else: *i]] _;ise Ft tNotFoundmi,Ft t '%s' wase0* found" % (ch else: *i]] afltrix=='u set' myrix=='u set'): *i]] _;ise PERRE_stami,x andmyu ix ][s [ /*mapem/ps b/*specDated" *i]] aflverbo=='rect'): *i]] verbo=kERR.T[memeRECTt else: *i]] verbo=kERR.T[meme{ m *i]] afln_in+=='bubbl-'): *i]] n_in+=kERR.NownutBUBBLEt else: *i]] n_in+=kERR.NownutGAUSSIAN *i]] afld=='u set'): #cd#da u specDated;erandommsnit, tyracel in,v&pc afldix=='u set'): *i]] _;ise PERRE_stami,Vn,v&pu ix ][em/ps b/*specDated poserandommsnit" *i]] hfa"-o#da(t[m=dimk #cc ate amd#da wi r*specDatedyvn,v&pu ix ][ ampprt random gena"-random.Randome"t u-ousnerange(10 * trix * y][m): *i]] myt wh = [] ;unerange(][m): *i]] #-random() each_p as "somo=empoi-ounumberebetweq[m0 d 1 *i]] myt wh.app nd(gen.random() * (rmax -ym) +ym) *i]] o.addvn,(in,v&pcmyt wh)) *i]] 3.h"_a"-kERR.l o=it_k.h"_(o.ate mverbo,n_in+,trix y][m) *i]] adwf. _#inc"-kERR. i] =_p ; errorvv byinmatpha_mact,_;ode__mact)t adwf.trix "-kERR.pams _x][m_w] (v savem)ut adwf.yrix "-kERR.pams _y][m_w] (v savem)ut adwf.rix "-kERR.pams _ ix ][_w] (v save #cdix tyracel in,v&pc aflQERR.tc */ _#in_verbo_w] (vERR.tc */ _#in_coui+ern_tc */ w] \ *i]] (adwf. _#in)) == kERR.T[memeRECT): *i]] adwf.verbo =m'rect' else: *i]] adwf.verbo =m'hex 'm)ut adwf.tast =m'u set' # flag bouixxpo=em OMahase0* beq[m[ra od; w] =a vxpo][s() wille0* workm)ut adwf.tast_[ra odm=m'u set'm)ut adwf.tast_mappodm=m'u set'm)ut m)ut adwf.toggo=em} 0 adwf.tog_mact =g'both'm)ut adwf.tog_ e- =u'(ch'm)ut adwf.tog_dira=tw] env("PWD") +y"/"m)ut adwf.tog_fprerix xt"EIGH"m)ut adwf.tog_ u-ou} 0 adwf.tog_(ch xt'u amse 'm)ut adwf.tog_paddo=em} 4 adwf.tog_( mxp xt"%C: [%i] maps o %pcat eix %d-%t\n" defu__ctl__(adwf): """ EIGH:u__ctl__() *i]] --------------- *i]] Addodmby WKV 23-07-28 """ af adwf. _#in: af cIGH: 3.h"_a"-kERR.tc */ _#in_coh"__w] (vERR.tc */ _#in_coui+ern_tc */ w] (adwf. _#in)) 3ERR.ks ; errorvv savem 3ERR. (ide ; errorvv dwf. _#in) *i]] adwf. _#inc"-eone *i]] *i]] defuiiit_[ra o=e(adwf,alpha_0,_;ode__0,runlepse_sta bouow=1): """ EIGH:uiiit_[ra o=e() *i]] --------------------- *i]] Se m nitpactlea* No rate,*ry, tx, tylea* No effn,v andm numberaof vra o=empat+ern . runlepqi numberaof [ra o=ems e s(you expec o us ,"-tpre*3urx "C vra o=emseprog. 5 umv umberaaffn,vstpre*rytc etrwixch atpha*a d ry, tx hecay. By default, pre*decay ty /s-ois(plevut, such *f+er runno=e;e, runlepqs e smeatphaois(zero*a d ry, txois(1.0. Itois(k ndm tyampprta"Cmve ada u lepqappropriytcly. I iaaie tyus No pre*default plevut*decay ][, both ry, txoandmatphaocan b/*se o decay wi a( v e eix ][ (i.e atpha_mact='unv e_t'...),xwixch can sometix s bee epr drastic(beca vhq[m /*lea* No rate n_v a u-Wlyiends upd zero,;ev n af you exc_ , h expec edyu lepqnumberaof [ra o=ems e s. you can also eainitpaciz ma vra o=emseprog whq[_v you like (3urx "Clyiatpha_mact a d ry, tx_mact are ada onemwhq[m /*EIGH imv ated,uhow_v ) e_sta bouow imvsprt ofnan ad-hoc waym tyrak No pre*e_starvalue each_p *i]] by w] =e_stav) eix dep nd "Cmonp tast 'e_sta bouow' numberaof vra o=ems e s. Tre*default is(1,xwixch #mpuld j/ps each_ppre*e_sta *i]] associxp(d wi /*maps eac "Cm ra o=ems e . PARAMS *i]] atpha_ :m nitpactlea* No rate. Range:m0 <= atpha_ <= 1.0 *i]] _;ode__0 :m nitpactry, tx, tylea* No effn,v. Range:m0 <= _;ode__0 <= trix myrix (wixch_v is(bigg ) u lepq :mnumberaof [ra o=empat+ern . Range:mu lepq>= 1 *i]] e_sta bouow:mnumberaof previotx,[ra o=ems e s( o tttsi whq[m3pvvvexpo=e;e, OMae_sta. Range:me_sta bouow >= 1 (1 by default). ee w] =e_stav). USAGE 1.eToainitpaciz mamsom wi a*lea* No rate of 0.02,*ry, tx, tylea* No effn,v of 3, andmnumberaof [ra o=empat+ern aof 1000: >>>myIGH.iiit_[ra o=e(0.02,3,1000) 2. One IGH imvinitpaciz d, dra aityus No onem ty /*followo=e: >>>myIGH.tra _, eleo#da or >>>myIGH.tra (in,v&p1) ee tra () andm ra _, eleo#dav). 3. map() a,vsta lot like tra () b" s ille0* a u-Wlyiadj/ps mapemacel in,v&pc;(equ vxl "Cm o [ra o=emwi zero*atpha). ee map(). 4.eToaeix a vra o=emseprog,tsee [imo=e_ssom_(). Note:me_sta heck No pretrwasepreviotxlycdon ,"-tiiit_[ra o=e_seprogv) *i]] sbtddevs *s.c has(beq[mmogodmhere. """ # heckmatphao(lea* No rate) *i]] iflatpha_0 <0.0 matpha_0 > 1.0): _;ise PERRE_stami\ *i]] "Invxlid*lea* No rate: % . Atphaom/ps b/*betweq[m0 d 1.0 \ *i]] (sive)" % atpha_0 # heckmry, tx, tylea* No effn,v afl_;ode__0 <1.0): _;ise PERRE_stami\ *i]] "Invxlid*_;ode_: % . Ry, tx, tylea* No effn,v m/ps b/*etrleasCm1"i\ *i]] % _;ode__0 # make sure*ry, tx, tylea* No effn,v imv0* g ate [ an mape ix ][ afl_;ode__0 > adwf.trix a d ry, tx_0 > adwf.y][m): *i]] _;ise PERRE_stami\ *i]] "Invxlid*_;ode_: % . OMa ix ][eimvonlyc%sx%s"i\ *i]] % l_;ode__0, adwf.trix, adwf.y][m) # u lepqm/ps b/*g ate [ an mequact o 1 afl_u lepq<1): *i]] _;ise PERRE_stami\ *i]] "Invxlid*_unum+(ch: % . Runum+(ch m/ps b/*etrleasCm1"i% u lep #me_sta bouow m/ps b/*g ate [ an mequact o 1 afle_sta bouow <1): *i]] _;ise PERRE_stami\ *i]] "Invxlid*siz mof _sta bouow: % . Wbouow siz mm/ps b/*etrleasCm1"i\ *i]] % e_sta bouowt adwf._u lepq= u lep QERR.iiit_[ra o=e_seprogvadwf. _#in,alpha_0,_;ode__0,runlepse_sta bouow) defutimo=e_ssom_(sdwf): """ EIGH:u[imo=e_ssom_() *i]] -------------------- som_u[imo=e. USAGE: >>>myIGH.timo=e_ssom_() *i]] >>>myIGH.tra _, eleo#da(myd#da) *i]] >>>myIGH.timo=e_ssop() *i]] >>>teix "-myIGH.w] =[ra o=e_ itu() *i]] >>>s, "Ctteix """ QERR.timo=e_ssom_( dwf. _#in) *i]] defutimo=e_ssop(sdwf): """ EIGH:u[imo=e_ssop() *i]] ------------------- sopu[imo=e. USAGE: >>>myIGH.timo=e_ssom_() *i]] >>>myIGH.tra _, eleo#da(myd#da) *i]] >>>myIGH.timo=e_ssop() *i]] >>>teix "-myIGH.w] =[ra o=e_ itu() *i]] >>>s, "Ctteix """ QERR.timo=e_ssop(sdwf. _#in) *i]] defuw] =[ra o=e_ itu(sdwf): """ EIGH:u[imo=e_ssop() *i]] ------------------- Rach_p ra o=emtimc utyvra o=emseprog was(timcd. USAGE: >>>myIGH.timo=e_ssom_() *i]] >>>myIGH.tra _, eleo#da(myd#da) *i]] >>>myIGH.timo=e_ssop() *i]] >>>teix "-myIGH.w] =[ra o=e_ itu() *i]] >>>s, "Ctteix """ each_pQERR.w] =[ra o=e_ itu(sdwf. _#in) # EIGH:uIGH toggo=emutility defutoggo=e_s] (adwf, race='u set' *vype='u set' *dir='u set' *prerix='u set' paddo=e='u set' *e mxp='u set'): """ EIGH:utoggo=e_s] () *i]] ------------------- Trog ][ m o boitpaciz mtoggo=ems] tDes . PARAMS mact :mspecDates wietrk ndm tyhfain,v&pc;ahtogg m---.hose ah[ra odm('[ra '),-.hose ahmappodm('map'),- m'both'. e- s:t. e-ocan b/*'dir' m'(ch';*'dir' illec ate amse _#tusch_psa *i]] eachtog mway.ma d '(ch' illec ate amsDesle t se,upu tDesteachmway. on amse _#tusplev. dira :udirn,v&py [ /*somw] t se(n) *i]] prerix:sch_psprerix [ /*somw] t se(n) *i]] e mxp:mspecDates asa mxp whol=e: %i:sE-pu}yvn,v&pu(e "lvq_pse _#tudmby pen) *i]] %H:uracel in,v&pu(e "lvq_pse _#tudmby pen) *i]] %p:d 1ordinxpvie tyracel in,v&p '(x,y)'m)ut %x:tx 1ordinxpve tyracel in,v&pm)ut %y: y 1ordinxpve tyracel in,v&pm)ut %c:tpre*3urx "Ctog coui+m)ut %C:ma Eaddodmv o][ ty /*3urx "Ctog coui+m)ut %d:tpre*3urx "Cdate a 'MM/DD/YY'm)ut %D:date a 'Mo( DD, YYYY'm)ut %e:date a 'MM/DD'm)ut %E:date a 'Mo( DD'm)ut %t:tpre*3urx "C24-houraeix a 'HH:MM:SS'm)ut %T: 12-houraeix a 'HH:MM:SS:AM/PM'm)ut %u:24-houraeix a 'HH:MM'm)ut %U: 12-houraeix a 'HH:MM:AM/PM'm)ut \n:ur_wplevm)ut \t:tpabm)ut %%:ma l teral '%' sig """ aflmact !=m'u set'): aflmact !=m'map' d mact !=m'[ra ' d mact !=m'both'): *i]] _;ise PERRE_stami\ *i]] "Unrn,ogniz dmtoggo=emmact:u%s"i%mmact *i]] adwf.tog_mact =gmact *i]] aflv e-o!=m'u set'): aflv e-o!=m'(ch' andm e-o!=m'dir'): *i]] _;ise PERRE_stami\ *i]] "Unrn,ogniz dmtoggo=em e-:u%s"i%m e-t*i]] adwf.tog_ e- =u e-t*i]] afldiro!=m'u set'): afldir[-1]o!=m"/"): *i]] diro+=y"/"m)ut afldir[0:2] }l."~/"): *i]] diro=tw] env("HOME") +ydir[1:]m)ut afldir[0]o!=m"/"): *i]] diro=tw] env("PWD") +y"/" +ydirt*i]] adwf.tog_diro=tdirt*i]] aflprerix !=m'u set'): adwf.tog_fprerix xtprerixt*i]] aflpaddo=em!=m'u set'): adwf.tog_paddo=em} paddo=et*i]] afla mxp !=m'u set'): adwf.tog_f mxp xtf mxp defutoggo=e_gvadwf): """ EIGH:utoggo=e_gv) *i]] ------------------ Th_ptoggo=em][.t """ adwf.toggo=em} 1 afladwf.tog_ e- ==m'(ch'): fnxtus= adwf.tog_diro+ adwf.tog_fprerix +y".tog" adwf.tog_fch xtams(fnxtu, "a") *i]] defutoggo=e_gffvadwf): """ EIGH:utoggo=e_gffv) *i]] ------------------- Th_ptoggo=em]ff.t """ adwf.toggo=em} 0 afladwf.tog_ e- ==m'(ch'): adwf.tog_fch.ks ;() *i]] defutoggo=e_reac_(sdwf): """ EIGH:utoggo=e_reac_() *i]] --------------------- *i]] Rese hetog coui+. """ adwf.tog_ u-ou} 0 defutoggo=e_cstrr(sdwf): """ EIGH:utoggo=e_cstrr() *i]] --------------------- *i]] Remogotog fchs """ , elsos impprt system afladwf.tog_ e- ==m'dir'): *i]] fnxtus= adwf.tog_diro+ adwf.tog_fprerix +y"[0-9]*.tog" aystem("rm " +ofnxtu) *i]] else: *i]] afladwf.toggo=e): *i]] adwf.tog_fch.ks ;() *i]] fnxtus= adwf.tog_diro+ adwf.tog_fprerix +y".tog" aystem("rm " +ofnxtu) *i]] afladwf.toggo=e): *i]] adwf.tog_fch xtams(fnxtu, "a") defutog(adwf, racel_in,): """ EIGH:utog() *i]] ----------- PARAMS mactl_in,: yracel in,v&p o bee ogg """ ampprt r vaem} "____%____%____" # rog#hpuld beesomet/ No no onem illeev Eadc-ou} who(adwf.tog_ u-o) *i]] wix *(m+((Eadc-o) < adwf.tog_paddo=e): *i]] Eadc-ou} "0" +oEadc-o as= adwf.tog_f mxp as= re.sub("%%", ag, vem)ut as= re.sub("%i", who(adwf.tast), vem)ut as= re.sub("%m", who(adwf.w] =mactl_in,v&pc dwf.tast.poi-o)), vem)ut as= re.sub("%p", who(adwf.tast.poi-o), vem)ut as= re.sub("%x", who(adwf.tast.poi-o.x), vem)ut as= re.sub("%y", who(adwf.tast.poi-o.y), vem)ut as= re.sub("%c", who(adwf.tog_ u-o), vem)ut as= re.sub("%Ce,spadc-o, vem)ut as= re.sub("%t", itu.whof itu("%X"), vem)ut as= re.sub("%T", itu.whof itu("%I:%M:%S:%p"), vem)ut as= re.sub("%u", itu.whof itu("%H:%M"), vem)ut as= re.sub("%U", itu.whof itu("%I:%M:%p"), vem)ut as= re.sub("%d", itu.whof itu("%x"), vem)ut as= re.sub("%D", itu.whof itu("%h %d, %Y"), vem)ut as= re.sub("%e", itu.whof itu("%m/%d"), vem)ut as= re.sub("%E", itu.whof itu("%h %d"), vem)ut as= re.sub( ag, "%", vem)ut afladwf.tog_ e- ==m'dir'): *i]] fnxtus= adwf.tog_diro+ adwf.tog_fprerix +yEadc-ou+".tog" adwf.tog_fch xtams(fnxtu, "w") *i]] adwf.tog_fch.w NOe(vem)ut afladwf.tog_ e- ==m'dir'): *i]] adwf.tog_fch.ks ;() *i]] adwf.tog_ u-ou+= 1 defumap(adwf,in,v&p): """ EIGH:umap() *i]] ----------- G vn *yEIGH in,v&pmi rog ][ maps mvn,v&p o /*SOM. Tre*macel in,v&p ty /*winno=e nod-ois(each_p . Macel in,v&pc; tyr_in+0 wo=e nod-s rema a hanged, i.e no lea* No occur . PARAMS in,v&p: in,v&p{objn,v o beemappod USAGE >>>myt wh = [0,1,0,2] >>>mysRR.map(EIGH.in,v&pcmyt wh)) *i]] """ # make sure* ix ][s tymappo=emin,v&p ndm OMqracel in,v&pymatchm)ut aflin,v&p.rix != adwf.rix): *i]] _;ise PERRE_stami\ *i]] "Mismatch dm ix ][s tymappo=emin,v&p (siz m%s)i\ *i]] d mactlmin,v&p (siz m%s)" % (in,v&p.rix, adwf.rix) af adwf.tast_mappodm==m'u set': #cfirps eu[ teords xtQERR.map_onevsdwf. _#in,min,v&p.hoody, *i]] poi-o(-1,-1).asIntPt_(", *i]] 1) #u1=update coui+ern *i]] else: *i]] teords xtQERR.map_onevsdwf. _#in,min,v&p.hoody, *i]] adwf.tast_mappod.asIntPt_(", 1) ph = poi-o(QERR.ptrvalue(teords,0),sQERR.ptrvalue(teords,1)) *i]] QERR.cele _ii+array(teords #uWKV 23-07-28 adwf.tast = in,v&pm)ut adwf.tast.poi-o = ptm)ut adwf.tast_mappodm=mptm)ut mactls= adwf.w] =mactl_in,v&pcptem)ut afladwf.toggo=em d adwf.tog_mact !=m'[ra '): *i]] adwf.toglmactl) ach_pmacel defutra (adwf,in,v&p): """ EIGH:utra () *i]] ------------- G vn *yEIGH in,v&pmi rog ][ maps mvn,v&p o /*SOM. Tre*macel in,v&p ty /*winno=e nod-ois(each_p . Macel in,v&pc; tyr_in+0 wo=e nod-s ah hangeduIG /irmvalues ah s ;p o at ty /*winnno=e nod-. PARAMS in,v&p: in,v&p{ o beemappod USAGE >>>myt wh = [0,1,0,2] >>>mysRR.tra (EIGH.in,v&pcmyt wh)) *i]] """ # make sure* ix ][s tyvra o=emin,v&p ndm OMqracel in,v&pymatchm)ut aflin,v&p.rix != adwf.rix): *i]] _;ise PERRE_stami\ *i]] "Mismatch dm ix ][s tyvra o=emin,v&p (siz m%s)i\ *i]] d mactlmin,v&p (siz m%s)" % (in,v&p.rix, adwf.rix) af adwf.tast_[ra odm==m'u set': #cfirps eu[ teords xtQERR.tra _onevsdwf. _#in,min,v&p.hoody, *i]] poi-o(-1,-1).asIntPt_(", *i]] 1) #u1=update coui+ern *i]] else: *i]] teords xtQERR.tra _onevsdwf. _#in,min,v&p.hoody, *i]] adwf.tast_[ra od.asIntPt_(", 1) ph = poi-o(QERR.ptrvalue(teords,0),sQERR.ptrvalue(teords,1)) *i]] QERR.cele _ii+array(teords adwf.tast = in,v&pm)ut adwf.tast.poi-o = ptm)ut adwf.tast_[ra odm=mptm)ut mactls= adwf.w] =mactl_in,v&pcptem)ut afladwf.toggo=em d adwf.tog_mact !=m'map'): *i]] adwf.toglmactl) ach_pmacel defutra _, eleo#da(adwf,o#da,race='cyclic'): """ EIGH:u ra _, eleo#dav) *i]] -------------------------- Tr* sp OMq, elsin,v&pc; o#da. Trere ah[wo [ra o=emraces: cyclic a d ry d (poserandom). Tre*dix ][e ty /*in,v&pc; pre*d#da m/ps matchm)ut tre*dix ][e ty /* OMqracel in,v&pc. PARAMS d#da:ud#da tyvra o=emin,v&ps mact :umact tyvra o=em, els#da ('cyclic' m'rand'. 'cyclic' by default, *i]] i.e.ain,v&pc;ahmappodmin der, andm ra o=emis(eap atedt tera vlyc dep ndo=em][ numberaof [ra o=empat+ern aspecDattedyat itpaciz .) *i]] As 'rand',ain,v&pc;ahchose eaterandomm, elspre*d#da. USAGE >>>my#da = EIGH.o#dave=at tnxtu) *i]] >>>myIGH.tra _, eleo#da(myd#da) *i]] """ defutra _, eleo#da(adwf,*d#da, race='cyclic'): # make sure* ix ][m tyhf#da in,v&pc;andm OMqracel in,v&psymatchm)ut afld#da.rix != adwf.rix): *i]] _;ise PERRE_stami\ *i]] "Mismatch dm ix ][s tyvra o=emin,v&p (siz m%s)i\ *i]] d mactlmin,v&p (siz m%s)" % (d#da.rix, adwf.rix) aflmact ==m'rand'): *i]] mact =gQERR.RAND *i]] else: *i]] mact =gQERR.CYCLIC mway.mxtQERR.tra _, elo#davsdwf. _#in,d#da.rte mmact)t #adwf.tast = in,v&p(e "ly=hoody,t[m=adwf.rix) adwf.tast = in,v&p(e "ly=hoody,t[m=adwf.rix, *i]] lv( c=kERR.w] =lv( c_clud=rix *thoody, *i]] QERR.clud=rix *_num=lv(__w] (rix *))) teords xtQERR.map_onevsdwf. _#in,madwf.tast.hoody, *i]] poi-o(-1,-1).asIntPt_(", *i]] 0) #u0=don't update coui+ern *i]] ph = poi-o(QERR.ptrvalue(teords,0),sQERR.ptrvalue(teords,1)) *i]] QERR.cele _ii+array(teords #uWKV 23-07-28 adwf.tast.poi-o = ptm)ut adwf.tast_[ra odm=mptm)ut ach_padwf.w] =mactl_in,v&pcptem)ut defumap_, eleo#da(adwf,o#da): """ EIGH:umap_, eleo#dav) *i]] ------------------------ *i]] Maps in,v&pc;, elsauhf#da in der o /*SOM. Tre*dix ][e ty /*in,v&pc a pre*d#da m/ps match tre*dix ][e ty /* OMqracel in,v&pc. PARAMS d#da:ud#da tyin,v&pc; o beemappod USAGE >>>my#da = EIGH.o#dave=at tnxtu) *i]] >>>myIGH.map_, eleo#davmyd#da) *i]] """ # make sure* ix ][m tyhf#da in,v&pc;andm OMqracel in,v&psymatchm)ut afld#da.rix != adwf.rix): *i]] _;ise PERRE_stami\ *i]] "Mismatch dm ix ][s tyvra o=emin,v&p (siz m%s)i\ *i]] d mactlmin,v&p (siz m%s)" % (d#da.rix, adwf.rix) mway.mxtQERR.map_, elo#davsdwf. _#in, d#da.rte ) #adwf.tast = in,v&p(e "ly=hoody,t[m=adwf.rix) adwf.tast = in,v&p(e "ly=hoody, t[m=adwf.rix, *i]] lv( c=kERR.w] =lv( c_clud=rix *thoody, \ *i]] QERR.clud=rix *_num=lv(__w] (rix *))) teords xtQERR.map_onevsdwf. _#in,madwf.tast.hoody, *i]] poi-o(-1,-1).asIntPt_(", *i]] 0) #u0=don't update coui+ern *i]] ph = poi-o(QERR.ptrvalue(teords,0),QERR.ptrvalue(teords,1)) *i]] QERR.cele _ii+array(teords #uWKV 23-07-28 adwf.tast.poi-o = ptm)ut adwf.tast_mappodm=mptm)ut ach_padwf.w] =mactl_in,v&pcptem defuw] =mactl_in,v&pc dwf, poi-o): """ EIGH:uw] =mactl_in,v&pc) *i]] ------------------------ *i]] Rach_p mactlmin,v&p of OMqnod-o /*specDatedypoi-o. PARAMS poi-o: Eoii+ objn,v. tsee Eoii+ i] =_or. USAGE >>>myIGH.w] =mactl_in,v&pcpERR.poi-o(2, 3)) *i]] -i rogeach_p mracel in,v&p tqnod-o(2,3)e ty /* OM """ 3.h"_a"-kERR.tc */ _#in_coh"__w] (vERR.tc */ _#in_coui+ern_tc */ w] (adwf. _#in)) mway.mxtQERR.w] =mactl_in,v&pc byinmepoi-o.asIntPt_(") lv( cmxtQERR.w] =lv( c_clud=rix *thoody, QERR.clud=rix *_num=lv(__w] (rix *)) dix "-kERR.pams _ ix ][_w] (v savem)ut ach_pin,v&p(e "ly=hoody, t[m=rix, poi-o=poi-o, lv( c=lv( cem defuw] =a vxpo][s( dwf,race='bubbl-',_;ode_=1.0): """ EIGH:uw] =a vxpo][s() *i]] ----------------------- *i]] Rach_p IGH a vxpo][tlev cs *f+er IGH has(beq[mmappodmto. tCallo=et*i]] rog ][ pri&p{ o IGH mappo=em illeresult inae_sta. F mpact. s, "C,m3pvlcd wplay=a vxpo][s() ][ ach_pialue ty og ][.t Af+er callo=eumap(),utra (),- m ra _, eleo#dav), callo=eu og ][m)ut ach_psta l wh correspondo=emto appropriytc a vxpo][tlev cs. 5 umvca[m)ut becdon ,ba m][tsumplem'bubbl-' m'gauproan' r_in+0 w] _is,- m(as suggest *i]] by Doug) by assig o=em vxpo][tw h (sm cordinemto _sta in mappo=emto achm)ut correspondo=emmactlmin,v&p ('e_sta'). Ity /*'e_sta' mact ,tpre*ry, tx,i aken a amtolerance, error;e, *i]] d ahpuld v ryebetweq[m0.0t o 1.0. 0.0t illelclos oahlike'bubbl, *i]] vxpo], wix d 1.0t illhave mpacta machve rye0dtc a vx m o*etrleastm)ut oix dgred-. I][tummaody, *i]] mmact:'bubblt ry, txrRange:><= 1.0 *i]] mmact:mgauproan ry, txrRange:><= 1.0 *i]] mmact: _stat ry, txrRange:*betweq[m0 d 1.0 (sive. PARAMS mact :m'bubbl-'( by default, ='gauproan',*'e_sta[m)ut _;ode_:*ry, tx, t effn,v USAGE >>>m a "-myIGH.w] =a vxpo][s='bubbl-' 2.0u) *i]] >>>m a "-myIGH.w] =a vxpo][s='bubbl-'2.0u) *i]] >>>m a "-myIGH.w] =a vxpo][s='gauproan'3.0u) *i]] >>>m a "-myIGH.w] =a vxpo][s='e_sta') *i]] >>>m a "-myIGH.w] =a vxpo][s='e_sta,0.25e. Note:me_stamvalues ahalways:><=01.0 *i]] """ af adwf.tast !=m'u set'): _;ise PERRE_stami\ *i]] Canv0* etc a vxpo][tlev cs.m OMahase0* yets(beq[mmappodmto"" aflmact !=m'gauproan' lmact !=m'bubbl-'): *i]] aflmact !=m'gauproan): mact =gQERR.NownutGAUSSIAN *i]] else mact =gQERR.NownutBUBBLEt s "so_ lev css"-kERR.w] a vxpo]_ lev cevsdwf. _#in, *i]] (adwf.tast.poi-o.asIntPt_(", *i]] *ry, ta, racu) *i]] e aflmact !=m'e_sta':Et s "so_ lev css"-kERR.w] =lev cs_by=e_stavsdwf. _#in, *i]] madwf.tast.hoody*ry, tu) *i]] else: *i]] _;ise PERRE_stamilmact%sMahase0* yets umpleceieds"i%mmact *i]] lev css"uarr_vec whs "so_ lev c, adwf.tri* adwf.y][m) QERR.cele _ "somarrays "so_ lev cs #uWKV 23-07-28 ach_p lev cem defuw] xyg(adwf, myt wh x, y0): """ EIGH:uw] xyg() *i]] -------------) *i]] Trog ][aollos x,lyiadrsepro=em]sta l wh repreackaxpo][ tma maax. . PARAMS yt wh: l wh repreackaxpo][ tm maax (e.g.H a vxpo][tlev csaof IGH nod-s(each_p by w] =a vxpo][s(() *i]] x]] x:tx 1ordinxpve tyaax elecei) *i]] y]] x: y 1ordinxpve tyaax elecei) *i]] USAGE To+ o * sp a vxpo][tlev ve t IGH nod ras 1ordinxpvo(2,3E: >>>myIGHuw] xyg w] =a vxpo][s(,(2,3: """ feach_pmyt w[ix +y *, adwf.tri]em defsaver_ve t se(adwf,lat t): """ EIGH:saver_ve t se() *i]] -------------------- G vn *=at tnxtpmi rog ][savesty /* OMqracel in,v&p m o*f specDated i . U i rog ]p{ o ave y /*macel in,v&pc *f+er a vra o=emseprogo. PARAMS i : nxtue t i fecommp ndd extx ] :u.e*. USAGE >>>myIGHsaver_ve t se=at tnxtu.e*3: """ 3.h"_a"-kERR.tc */ _#in_coh"__w] (vERR.tc */ _#in_coui+ern_tc */ w] (adwf. _#in)) (vERR.w NO; errorvv sa,;(ch"t m defcd wplar(sdwf): """ EIGH:cd wplar() *i]] --------------- *i]] Dd wplas[aol/*macel in,v&pc* sp gG vnvERR. USAGE >>>myIGHcd wplar() *i]] """ 3.h"_a"-kERR.tc */ _#in_coh"__w] (vERR.tc */ _#in_coui+ern_tc */ w] (adwf. _#in)) (vERR s, "leo#da(v savem)ut m defcd wpla =a vxpo][s( dwftlev cp='u set'): """ EIGH:cd wplay=a vxpo][s() *i]] --------------------------- *i]] Dd wplas[ IGH a vxpo]pc* smpacta s, ". Ity /tlev cs, error;eoois(u specDaten, *i]] vhq,' by default i rog ]pdd wplas[p a vxpo][tlev -s(each_p bycCallo=et*i]] w] =a vxpo][s() wth:mgauproan_mact a da:*ry, tx, t 1.0. Oi w;is ,tpre ) (can EpecDayp a vxpo][tlev -s; o bedd wplap bycCallo=:uw] =a vxpo][s() *i]] wth: sairedn_mact a d*ry, t). PARAMS tlev -h: l wh tma vxpo][tlev cs. . USAGE 1.eTo us *defaultdd wpla (mgauproan_mact a d*ry, tx=<1.0): >>>myIGHcd wpla =a vxpo][s() *i]] ) *i]] 21.eTodd wpla p a vxpo][tlev -s(each_p by w] =a vxpo][s() wth:mgauproaS mact a d*ry, tx of ): >>>myIGHcd wpla =a vxpo][s w] =a vxpo][s,race='gauproan',,_;ode_3h)) *i]] """ af lev css!=m'u set'): lev css"adwf.w] =a vxpo][s='gauproann) *i]] e j ;unerange0, adwf.y][m): *i]] afj"i%2ss!=1em d adwflverbo=='hex e): *i]] s, "Ct n, *i]] ;unerange0, adwf.trie): *i]] dex= i j *, adwf.tri: *i]] s, "Ct%.2f)" % lev c[ de](", *i]] s, "Ct"em defuw] regn_coui+epc dwf, da, rac0): """ EIGH:uw] regn_coui+ep() *i]] ----------------------- *i]] G vn *yEoii+ a da: mactm('[ra ' m'map'),i rog ][ each_p, *i]] vh correspondo=e(regular)e coui+e associxp(d wi etraoi-o. PARAMS pt x: Eoii+ objn,0 *i]] mmact:('[ra ' m'map USAGE: 1..eTo etc vra o=e(regular)e coui+e associxp(d wi Eoii+e0,2u) *i]] >>>myIGHuw] _coui+ep.poi-o0,2u,=m'[ra ') *i]] 21..eTo etc mappo=e(regular)e coui+e associxp(d wi Eoii+e5,5u) *i]] >>>myIGHuw] _coui+ep.poi-o5,5u, m'map') *i]] """ ase0* iprostranc( da, poi-o): eaise T e-E_sta,"Eexpec o=em: Eoii+ objn,, gG vn%pc* iaas"i%m epcptem)ut a lmact !=m'[ra ): each_pQERR.w] regnt_coui+epc dwf. _#in,p-o.asIntPt_(") felafmact !=m'map): each_pQERR.w] regnm_coui+epc dwf. _#in,p-o.asIntPt_(") felse: *i]] _;ise PERRE_stamiUnknownemmact:u%s"i%mmactm defuw] ecn_coui+epc dwf, da, rac0): """ EIGH:uw] ecn_coui+epv) *i]] -------------------------- G vn *yEoii+ a da: mactm('[ra ' m'map'),i rog ][ each_p, *i]] vh correspondo=e ecua ve coui+e associxp(d wi etraoi-o. PARAMS pt x: Eoii+ objn,0 *i]] mmact:('[ra ' m'map USAGE: 1..eTo etc ecua ve vra o=e coui+e associxp(d wi Eoii+e0,2u) *i]] >>>myIGHuw] _c ecn_coui+ep.poi-o0,2u,=m'[ra ') *i]] 21..eTo etc ecua ve mappo=e coui+e associxp(d wi Eoii+e5,5u) *i]] >>>myIGHuw] _c ecn_coui+ep.poi-o5,5u, m'map') *i]] """ ase0* iprostranc( da, poi-o): eaise T e-E_sta,"Eexpec o=em: Eoii+ objn,, gG vn%pc* iaas"i%m epcptem)ut a lmact !=m'[ra ): each_pQERR.w] _c ecnt_coui+epc dwf. _#in,p-o.asIntPt_(") felafmact !=m'map): each_pQERR.w] _c ecnm_coui+epc dwf. _#in,p-o.asIntPt_(") felse: *i]] _;ise PERRE_stamiUnknownemmact:u%s"i%mmact] m defuw] max ecn_coui+epc dwf, da, rac0): """ EIGH:uw] ecn_coui+epv) *i]] -------------------------- G vn *yEoii+ a da: mactm('[ra ' m'map'),i rog ][ each_p, *i]] vh correspondo=emaximume ecua ve coui+e associxp(d wi etraoi-o.] m PARAMS pt x: Eoii+ objn,0 *i]] mmact:('[ra ' m'map ] m USAGE: 1..eTo etcmaximume ecua ve vra o=e coui+e associxp(d wi Eoii+e0,2u) *i]] >>>myIGHuw] max _c ecn_coui+ep.poi-o0,2u,=m'[ra ') *i]] 21..eTo etcmaximume ecua ve mappo=e coui+e associxp(d wi Eoii+e5,5u) *i]] >>>myIGHuw] max _c ecn_coui+ep.poi-o5,5u, m'map') *i]] """ ase0* iprostranc( da, poi-o): eaise T e-E_sta,"Eexpec o=em: Eoii+ objn,, gG vn%pc* iaas"i%m epcptem)ut a lmact !=m'[ra ): each_pQERR.w] max ecnt_coui+epc dwf. _#in,p-o.asIntPt_(") felafmact !=m'map): each_pQERR.w] max ecnm_coui+epc dwf. _#in,p-o.asIntPt_(") felse: *i]] _;ise PERRE_stamiUnknownemmact:u%s"i%mmact] m defuw] highestn_coui+epc dwf,_coui+e_*vype='u set' race='u set0): """ G vn * mactm('[ra ' m'map'+ a da: coui+e t. e-o(regular' m-- default, *i]] ' ec', m'mx _c ecp'),i rog ][elcl[s [ / specDated coui+e wi , *i]] vh highestamvalur, and ach_pstarefereOne o vh correspondo=e Eoii+ objn,0 *i]] andm coui+e ; two- elecei: l w. Rach_ e mxp:[ da, coui+e mvalu] USAGE: 1.eTo etcyEoii+ a dhighesta(regular)e dra coui+eE: >>>myIGHuw] highestn_coui+ep race='[ra ') *i]] 21.eTo etcyEoii+ a dhighesta ecua ve vra coui+eE: >>>myIGHuw] highestn_coui+ep' ec', m'map') *i]] 31.eTo etcyEoii+ a dhighestarmax ecua ve ma coui+eE: >>>myIGHuw] highestn_coui+ep''mx _c ecp,=m'[ra ') *i]] """ """ aslmact !=m'[ra ): dictss"adwfm ra _coui+e_dict) felafmact !=m'map): dictss"adwf.map_coui+e_dict) felse: *i]] _;ise PERRE_stamiUnknownemmact:u%s"i%mmact] m as_coui+e_*vypt !=m_c ecp: =_p e- =1) felaf_coui+e_*vypt !=m'mx _c ecp: =_p e- =2) felse =_p e- =0: *i]] 0 *i]] mmx mva- =0: *i]] mmx css" [] ;unerange adwf.trie): *i]] e j ;unerange adwf.y][m): *i]] ph = poi-oi,j): *i]] *3ur mva- =dict[ d.__strl__(][ =_p e] *i]] : *i]] f *3ur mva->= mmx mva): *i]] f *3ur mva-> mmx mva): *i]] ] mmx mva- =*3ur mva: *i]] ] mmx css" [] ] mmx ch.app nd[ da, 3ur mva]l) ach_pmx c) *i]] """ """ rmax =0: *i]] ;unerange adwf.trie): *i]] e j ;unerange adwf.y][m): *i]] ph = poi-oi,j): *i]] *coui+e s"adwf_uw] highestn_coui+e_helpe&pc oui+e_*vypf, da, rac0: *i]] f *coui+e > mmx): *i]] max =*coui+e) ach_pmx: *i]] " defuuw] highestn_coui+e_helpe&pc dwf,_coui+e_*vypf, da, rac0): as_coui+e_*vypt !=m_c ecp:: *i]] adwf.w] _c ecn_coui+ep.da, rac0: *i]] felaf_coui+e_*vypt !=m'mx_c ecp:: *i]] adwf.w] max ecn_coui+ep.da, rac0: *i]] felse: *i]] adwfuw] regn_coui+ep.da, rac0: *i] """################################################################################# # cl asp: in,v&ppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppppp#"################################################################################# cl as in,v&p: *i] """ *i]Ua both e yhf d mactlmin,v&t). w] =lt[s()ocan b/ m oacc eprp a quacmvalues ty / erro. * sp min,v&p. TreyEoii+yhfmeumber ahpuld rema m'u set' e yh. min,v&t,) b" f lmacel in,v&pc repreackpc*kpcd 1ordinxpvi* sp * OM """ def__.iiit_pc dwf,=lt[e='u set' tw h (=1a, ask='NULLt' (e "ly='u set' t[m='u set' *poi-o='u set' lv( c[]0): """ in,v&p:__.iiit_p) ------------------- in,v&+ i] =_ot] m PARAMS =lt[ x: l wh t elecei-s; o be veratedtnm oa c s "so marra tw h (:o [ra o=emw h (se ty /*in,v&1 (1 by default). *g ate mw h (slhavet] *g ate ra o=emmp a ) ][ .ma). mw h (smm/ps b/><=01 ask x: l wh t1'pc;and0'cs. um+(che tyask l wh#hpuld be [ / aix a at *i]] fets: l w. oa 1g bouixxesG correspondo=eialue inaets: l w whpul beignorpodmincomputk No pre*winno=elmacel in,v&. asaol/mvalues* sp aets: l w ah o be tsi podmin cmputaxpo][ t pre*winno=elmace in,v&pmi e][ .msk #hpuld beNULL' *se o[0,0,...,0]1 mway.:lereervted pos* irnuac . oafi+e ; itpaciz ),i rog. _# ere *i]] p *WIGh repreackaxpo][ tp arra *poi-er1 dix .:lereervted pos* irnuac . oafi+e ; itpaciz ),i rog. _# ere *i]] p *siz mof arra1 yEoii+:,i rog. _# ahpuld rema m'u set' e yh min,v&t,) b" f lmacel in,v&p i rogeepreackpc*kpcd 1ordinxpvi* sp vERR. lv( cx: l wh t* ige&pc;rp whol=-s; o be associxp(d wi min,v&v. e.g.H['X'], [1a,45], ['abp,=mC3'], etc). Note:TypicCaly,saol/ae nc_ ,wcory aboutpqi aets:, error;e. USAGE 1.e /*in,v&1 ] =_opqi ypicCaly/ * sp *followo=c wae: >>>myIGH.tra ,(in,v&p[7,2.5,0.2])) 21.eTo us .mskwo=e: >>>myIGH.tra ,(in,v&p[7,2.5,0.2], ask=[,1,00]v) *i]] -sp *firps elecei:e ty /*in,v&1 i.e.7() will beignorpod whq[momputk No pr) *i]] *winno=elmacel in,v&.) *i]] 31.eTo ma min,v&m wi a*lv( e: >>>myIGHumap(in,v&p[7,2.5,0.2], lv( c['X',2,'abp,'C4']h)) *i]] """ afaets: !=m'u set'): # make suremw h (se tyvra o=emin,v&p><=01 # Note:T5 umv heck m o bepe& e * sssbtddevs *s. afmw h (s <0.'): *i]] _;iseVin,v&RE_stami\ *i]] "Invxlidmw h (sfortyvra o=emin,v&w: % .i\ *i]] Ww h (smm/ps b/><=0s"i%mw h (\ *i]] yEoiicss" l wr_ve arfaetsamis "soa") *i]] dix "(m+(aets)) # msk c_.msk !=mNULLt #uea* N: c_.msk mm/ps b/vinitpaciz m oNULL, oi w;is,m3pvlmve # makc_clud=rix _mw h (ed_.msked () ello) willfail aslmsk umNULL. aflmsk !!=mNULLt'): *i]] # make sure(m+(lmsk)symatces in,v&pe ix ][ a ((m+(lmsk)s! =di[m): *i]] _;iseVin,v&RE_stami\ *i]] "Mismatch dm ix ][s t*in,v&1 lvn%p'+ a dlmsk lvn%p'1"i\ *i]] % (im,(m+(lmsk)0: *i]] # make surelmsk uma bdinry l w: *i]] pos*tema in msk): *i]] f(*tema! =m0 d*tema! =1): *i]] _;iseVin,v&RE_stami\ *i]] "Invxlid msk): % . Mmsk mm/ps b/a bdinry l ws"i%mmsk c_.msk != l wr_ve arf.mskami ahroa" # veratyask l whtnm oa c arra e t ahros) # lv( c_strl lv( cmxmNULLt #uea* N: c_strl lv( cmm/ps b/vinitpaciz m oNULL *firp. strl lv( cmx[:]m)ut af(m+(=lv( ca! =m'): *i]] # veratve ryeult in lv( c(pyth ][et wh m oap whol=' # e o=emda rl lv( ,sa:ur_ pyth ][et w e t whol=-v. #strl lv( cmx[:]m)ut pos*tema in*lv( e: strl lv( h.app nd who*tem)0: *i]] # Null-r;emdinxpvy /tt w e t whol=-v i rog imvc_ z m oder;emdie # p arra *siz in makc_clud=rix _mw h (ed_.msked ()* sssbtddevs *s. #strl lv( h.app nd who0)) # C verattt w e t whol=-htnm oa c arra e tch erci+e *poi-er-v. # Note:meachult inc_strl lv( c uma ch e *poi-er1 So,nc_strl lv( c um pr) *i]] # (equ vxl "Ce tC's ch e **v. #c_strl lv( cmx l wr_ve arf rl lv( ,s"ch e") #ec ate ayh mway. i] = (tseessbtddevs *s. f lmrz ifo0: *i]] mway.mxtQERR.makc_clud=rix _mw h (ed_.msked yEoiic' tw h (, c_.msky, t[", *i]] strl lv( t)t +yhfmeumbe[s t*in,v&1{objn,v(pse _#tud;, el(v s f claritys adwf dix . =di[ adwf mway.mxmway. c dwf.poi-o = poi-. c dwf ask =%mmsk " def w] =lt[s(sdwf): """ min,v&w: w] =lt[s() *i]] ------------------ Rach_p e ginuac l wh repreackaxpo][ t aelecei-s* sp min,v&p: """ yEoiicss" QERR.clud=rix *yEoiic/ w] (adwf(rix *) ach_puarr_vec whyEoiic' =adwf.rix) def__ w]*temt_pc dwf,key0): """ in,v&p:__ w]*temt_pv) *i]] --------------------- Rach_p *in,v&1 elecei:yat dexposixpo][gG vnby,keyp: """ myt wh = adwfuw] =lt[s() *i]] a iprostranc(key' *vyps.Slice T ee): *i]] s, "Ckeyp_ssom: *i]] s, "Ckeyp_sop uWKV 23-07-28 ]m)ut aCkeyp_sop >e(m+((sdwf): _sop =e(m+((sdwf: *i]] else: *i]] _sop =ekeyp_sop feach_pmyt w[keyp_ssom:_sop]) feach_pmyt w[keyp_ssom:keyp_sop] #uWKV 23-07-28 felse: *i]] each_pmyt w[key:]m)ut def__(m+t_pc dw0): """ in,v&p:__(m+t_pv) *i]] ----------------- Rach_p um+(che tp min,v&p: """ ach_p ln( adwfuw] =lt[s(tem)ut defuw] tw h (s(sdwf): """ min,v&w: w] tw h (s() *i]] -------------------- Rach_p [ra o=emw h (se ty /*in,v&1 Se /*in,v&1 i] =_opsa *i]] lmrz ifop: """ ach_p QERR.clud=rix *mw h (/ w] (adwf(rix * em)ut defuw] mmsks(sdwf): """ min,v&w: w] mmsks() *i]] ------------------ Rach_p ask e ty /*in,v&1 Mmsk um(each_p a apyth ][et wp: """ ach_pc dwf ask) #DEPRECATEDM """ defsw] =lv( s( dwftlv( c[]0): min,v&w:sw] =lv( s() *i]] ------------------) *i]] Aassocixps min,v&m wi p gG vn lv( h Remogs[aol/ lv( ssmpviously. associxp(d wi min,v&p: c_strl lv( cmxmNULLt #uea* N: c_strl lv( cmm/ps b/vinitpaciz m oNULL *firp. # af(lv( cm!=mNULLt'): *i]] af(m+(=lv( ca= =m'): *i]] _;iseVin,v&RE_stam"Non lv( cprovi z g" )t + veratve ryeult in lv( c(pyth ][et wh m oap whol=' # e o=emda rl lv( ,sa:ur_ pyth ][et w e t whol=-v. strl lv( cmx[:]m)ut pos*tema in*lv( e: strl lv( h.app nd who*tem)0: # Null-r;emdinxpvy /tt w e t whol=-v i rog imvc_ z m oder;emdie # p arra *siz in makc_clud=rix _mw h (ed_.msked ()* sssbtddevs *s. strl lv( h.app nd who0)) # C verattt w e t whol=-htnm oa c arra e tch erci+e *poi-er-v. # Note:meachult inc_strl lv( c uma ch e *poi-er1 So,nc_strl lv( c um pr) *i]] # (equ vxl "Ce tC's ch e **v. #c_strl lv( cmx l wr_ve arf rl lv( ,s"ch e") # QERRsw] =lv( c_clud=rix *(adwf(rix ,nc_strl lv( () *i]] s, "Cstrl lv( ) *i]] QERRsw] =lv( c_clud=rix *(adwf(rix ,nstrl lv( () *i]] madwf.tv( cmxstrl lv( ) *i] """ defadd =lv( s( dwftlv( cmNULLt'): *i] defadd =lv( s( dwftlv( c[]0): """ min,v&w:add =lv( s() *i]] ------------------) *i]] Aassocixps min,v&m wi p gG vn lv( h Aol/ lv( ssmpviously. associxp(d wi min,v& rema a hangep: """ c_strl lv( cmxmNULLt #uea* N: c_strl lv( cmm/ps b/vinitpaciz m oNULL *firp. # af(lv( cm!=mNULLt'): *i]] af(m+(=lv( ca= =m'): *i]] _;iseVin,v&RE_stam"Non lv( cprovi z g" )t + veratve ryeult in lv( c(pyth ][et wh m oap whol=' # e o=emda rl lv( ,sa:ur_ pyth ][et w e t whol=-v. strl lv( cmx[:]m)ut pos*tema in*lv( e: strl lv( h.app nd who*tem)0: # Null-r;emdinxpvy /tt w e t whol=-v i rog imvc_ z m oder;emdie # p arra *siz in makc_clud=rix _mw h (ed_.msked ()* sssbtddevs *s. #strl lv( h.app nd who0)) # C verattt w e t whol=-htnm oa c arra e tch erci+e *poi-er-v. # Note:meachult inc_strl lv( c uma ch e *poi-er1 So,nc_strl lv( c um pr) *i]] # (equ vxl "Ce tC's ch e **v. #c_strl lv( cmx l wr_ve arf rl lv( ,s"ch e") # QERRadd =lv( c_clud=rix *(adwf(rix ,nc_strl lv( () *i]] QERRadd =lv( c_clud=rix *(adwf(rix ,nstrl lv( (): *i] def_cstr =lv( s( dw0): """ min,v&w:_cstr =lv( sv) *i]] --------------------- Remogs[aol/ lv( ss associxp(d wi min,v&p: F oix reas ),i rogroggG no=elte amsgefaulp: """ QERR_cstr =lv( sc_clud=rix *(adwf(rix vem)ut m defgw] =lv( s( dwf): """ min,v&w: w] =lv( s() *i]] ------------------) *i]] Rach_p ulv( c l w associxp(d wi min,v& mNULLt) *i]] a no/ lv( ss rbe associxp(d wi i rogmin,v&p: """ ach_ptQERR.w] =lv( c_clud=rix *(adwf(rix ,nsadwfuw] num lv( s()cem defuw] =lv( casSwhol=s( dwf): """ min,v&w: w] =lv( casSwhol=s() *i]] ---------------------------) *i]] Rach_p ut w e t lv( ss associxp(d wi min,v&) *i]] noap whol=h repreackaxpo].i]Ua novis.py pos lv( lo=et*i]] of OMqnod-s* sguip: """ =lv( c css"adwf.w] =lv( s() *i]] =lv( c whou} "" as(m+(=lv( _ cs ! =m): *i]] e *tema in*lv( _ ce: *i]] =lv( c who+= *tem" ach_p lv( c whem)ut m defgw] num lv( s(( dwf): """ Rach_p numberaof lv( ss associxp(d wi min,v&p: """ ach_p QERR.clud=rix *_num=lv(__w] (adwf(rix vem)ut def__strl__c dw0): """ in,v&p:__strl__() *i]] ----------------- Rach_p ap whol=h repreackaxpo]h tmilleelecei-s* sp min,v&p Trog ]" i ypicCaly/cCalp by s, "(t). Onlyt aelecei-s* sp min,v&s rbe(each_p t, *i]] i.e.tw h (, .msky, dulv( c rbenolp: """ *i]] lmyt wh = adwfuw] =lt[s() *i]] """ #uWKV 23-07-28 . sou} "" fv&1 elt in yt wh: sro+=y%.3f)" % el") +y ". sou}s[:-1]" ach_pc) *i]] "" *i]] lmyt wh =[y%.3f)" %x fv&1xt in yt w]" ach_py ".jpoipcmyt whem defcd wplar(sdwf): """ in,v&p:cd wplar() *i]] ----------------- *i]] Dd wplas[p min,v&s psta l wh t*value). Dclumeumbe[s(e.g.Htw h (, .msky, ) *i]] =lv( ) associxp(d wi min,v& arbedd wplap pswellp: F mxp:[<*in,v&1 ets>]. mw h (: d msk)[< ask ets>]. *lv( e[]: """ lmyt wh = adwfuw] =lt[s() *i]] mw h (s = adwfuw] tw h (s() *i]] ask ls= adwf.w] =msks() *i]] ulv( css"adwf.w] =lv( s() *i]] ) *i]] s, "C"[ n, *i]] fv&1 elt in yt wh: s, "Ct%.3f)" % el",) *i]] s, "C"] mw h (::u%s"i%tw h (,: aflmsk !!=mNULLt'): *i]] s, "Ct msk):[ n, *i]] elt in msk): *i]] s, "Ct%%s"i%eult, *i]] ] s, "C"] n, *i]] af(lv( c!mx[:'): *i]] s, "Ct *lv( e:[ n, *i]] elt in*lv( e: s, "Ct\'%s\'s"i%eult, *i]] ] s, "C"] "################################################################################# # cl asp:yhf#daaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa#"################################################################################# cl as d#da) *i] """ A pyth ][front-ende o vh a lbrary's wacky lnked-yt whyhfsets umpleceia ][.t Ca][ ead, d.w NOe o R.clt i [s( aix _fch e mx ps specDated* sp vER_pak docueceia ]t). Keepsem: Eoiider o / 3url "Cposixpo][* sp yt wh so youmvca[m)utm3pvlnex(s( untilty / d e ty / l whtum(eatch ,:yatwhic Eoii+youmnc_ , om3pv[m)utrewi nd)a. Trere umals oa _w] ) ometod,) b" i rog willoiidefered wi mpvious[m)ut Eoiider(s o asyoumvcill_w] 6) andm nlnex(s(,lnex(s( m illerach_p 7i min,v&) *i]* sp yt w)a. addmins( adds min,v&m o /yt wh a dals ocauses wacky Eoiide) *i]behavio&p NotG it uma bad,ideam o rym o raverspvy /tt w a dadndm ol=-) *i] oit-o /*aix itu) *i] """ def__.iiit_pc dwf,.iiitmin,v&='NULLt' t[m='u set' ve='u set0): """ d#da:__.iiit_p) -------------------" d#d+ i] =_ot] m PARAMS .iiitmin,v&:/vinitpa min,v&m m oec ate d#d dix ......:e* ix ][m t in,v&pc* s d#d _fch......:e_fch , elwhic pre*d#dai-s; o be c atd USAGE 1..eTo ead,; o#dc;, elsa i :t] >>>my#da =.o#dave=at tnxtu) *i]] 21..eTobuild o#dc byh a , *firpsvinitpacizoit, eii 1 by ix ][mot] wi n/vinitpa min,v&:t] >>>my#da =.o#da t[m4u) *i]] v&mt] >>>my#da =.o#davinitpatmin,v&u) *i]] Tvhq,'adnd in,v&p m oilp: >>>my#d.addmins in,v& 1) >>>my#d.addmins in,v&2() *i]] """ c dwf.ss"-kERR.w] eptrs() *i]] aave: !=m'u set'): asext ws(lat t): c dwfyhfs"-kERRtam; error;(ch"t c dwfydix "-kERR.pams _ ix ][_w] c dwfyhf: *i]] else: *i]] _;iseF(ch NoFoua , "F(ch '%s' waase0* foua s"i%;(ch ] else: *i]] """ uWKV 23-07-28 ]m)ut a(.iiitmin,v& !!=mNULLt'): *i]] ydix ".iiitmin,v&fydi : *i]] c dwfyhfs"-kERR.iiit.o#da t[)]m)ut a(.iiitmin,v& !!=mNULLt'): *i]] c dwfaddmins.iiitmin,v&): *i]] c dwfydix "tri: *i]] """ # Cv s works /*aix,) b" it'ssmpobably/ccstr+er rog ay1..YT]m)ut a(.iiitmin,v& !!=mNULLt'): *i]] ydix ".iiitmin,v&fydi: c dwfyhfs"-kERR.iiit.o#da t[)]m)ut c dwfaddmins.iiitmin,v&): *i]] else: *i]] _ dwfyhfs"-kERR.iiit.o#da t[)]m)ut c dwfydix "tri: *i]] # rog aoggG no=eltempobplesd wi yth ]2.2'ssgarbag calp ]" # no/ideamwhy,) b" iasyoum;ahc a o=em:whoch m tyhf#ds" # wi i rogcommp xp(doutpyoumm h (s d upm wi ameuory eak # def__actl__c dw0): # QERR_cosO; errorc dwfyhf:: # Fixp(doi 1meuory corupxpo][, a ommp xp(d a ddidon'tfi nempobples.: # -- uWKV 23-07-3: # _cosO; error)symyse0* mixm wi .iiit.o#d (y / erro. i] =ures" # ;ahsl h (lby ffereOlt, howve oit-oppstrp m owork. Ity ol=-h_ssom: *i]# a o=elik ve euory corupxpo]syoumvhpuldtry cmmp xro=emb" i e: # _cosO; error)svcil. uWKV 23-07-28 def__actl__c dw0): QERR_cosO; errorc dwfyhf: QERRfree eptrsc dwf.hem defaddminsc dwf,minf): """ d#da:addmins() *i]] ----------------- *i]] Adds min,v&m o /y#d.: """ QERRaddtoleo#da(adwa.rte minf(rix vem defrewi nd(sdwf): """ d#da:rewi nd) ------------------ Rwi nso /y#d.: """ mway.mxtQERRrewi n; errorc dwfyh,nsadwfpvem)ut ach_pin,v&p(e "ly=hoody,t[m=adwf.rix) defnex(s(sdwf): """ d#da:nex(s( ---------------: Ge /nex( mway. a pre*d#da and ach_oit-os min,v&.: """ mway.mxtQERRnex(d=rix *(adwfpvem)ut ach_pin,v&p(e "ly=hoody,t[m=adwf.rix) defg#da(adwf, def): """ d#da:_w] ) --------------: Ge /yh mway.atxposixpo][gG vnby, der, and ach_) *i]] t-os min,v&.: """ a(.i dex>s"adwfntmin,v&s()c): *i]] _;iseIi deRE_stam"Dhf#da i dexmb" m tboua s"" inss"adwfrewi nd) x =0: *i]] wix (i <, def): inss"adwfnex(s( x =i+1em)ut ach_pin) defload _, el t se(adwflat t): """ d#da:load _, el t se) -------------------------: GG vn *=at tnxtpmi rog ][reloadso /y#dmm, elspre i . """ QERR_cosO; errorc dwfyhf: c dwfyhfs"-kERRtam; error;(ch"t c dwfydix "-kERR.pams _ ix ][_w] c dwfyhf: defsaver_ve t se(adwflat t): """ d#da:saver_ve t se() -----------------------: GG vn *=at tnxtpmi rog ][savesty /y#dm o / i . """ QERR.w NO; errorc dwfyh,nlat t #uWKV 23-07-28 defntmin,v&s((sdwf): """ d#da:ntmin,v&s()) --------------------- Rach_p numberaof erro. a pre*d#d . """ ach_p QERR.pams _num.pams _w] c dwfyhf: defcd wplar(sdwf): """ d#da:cd wplar() ------------------- Dd wplas[p p xrrre*d#d . """ (vERR s, "leo#dac dwfyhf "################################################################################# # cl asp: Eoii++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++#"################################################################################# cl as poi-o) *i] """ tsumplex,ly 1ordinxpvhocdde) *i]myraoi-oxai-s(equ vxl "C omyraoi-[0],]myraoi-oyC omyraoi-[1]" myraoi-oasL wh( m illgG vsyoum;n a quac l w: *i]"t"em def__.iiit_pc dwf,x=0, y=.0): """ poi-o:__.iiis( ---------------: Eoii+ i] =_o PARAMS xx:tx 1ordinxpve t poi-. yx: y 1ordinxpve t poi-. """ c dwfax =x" c dwfy.mxy. c dwf__ arra = Ndon #uWKV 23-07-28 def__ w]*temt_pc dwfkey0): """ poi-o:__ w]*temt_pv) *i]] -------------------) *i]] Tvrog ][ each_p eii 1p x v&mypialue tm: Eoii+depp nro=em_) *i]] [ / specDatedkeyp: : PARAM:dkey (0geach_p xamvalur,1geach_p ypialu') *i]] """ askey = =m): *i]] ach_pc dwfx" askey = =1): *i]] ach_pc dwfy. _;ise EoiiRE_stam""InvxlidiadrsepC o' Eoii' cl as dfmeumbe"" def__(m+t_pc dw0): """ poi-o:__(m+t_pv) *i]] ---------------- Rach_p um+(che tatraoi-o.] """ ach_p2: : defasL whc dw0): """ poi-o:asL wh() *i]] --------------- Rach_p two- elecei:pyth ][et w #dm o /mvalues* sp e Eoii+ objn,0 *i]] """ """ YTV 23-0730: : lmyt wh =[]: lmyt wh.app nd dwfx): lmyt wh.app nd dwf *) ach_plmyt w.] """ ach_p[ dwfx,nsadwfy]em defisEqquapc dwf, d0): asc dwfax m=mpfaxm d adwfyx m=mpfy): *i]] ach_p1em)ut ach_p0" def.asIntPt_c dw0): """ poi-o:assIntPt_() *i]] ----------------- *i]] Rach_p c arra e ttwot* ige&pc#dm o /mvalues* sp e Eoii- *i]] objn,v: : NOTE: Tvrog ][ipc* i ndd pos* irnuac em_ly1..Ddon't szoit!0 *i]] """ """ uWKV 23-07-28 . pwhou},QERR.pt c at("* ",0,2u) *i]] ,QERR.pt#da.pt, adwf.,0u) *i]] ,QERR.pt#da.pt, adwfy,1*) ach_ppwhem)ut """ ase0* c dwf__ arrae: *i]] adwf__ arra = ,QERR.pt c at("* ", 0, 2( #,QERR.pt#da adwf__ arra,nsadwfx,n0( #,QERR.pt#da adwf__ arra,nsadwfa,n1u) *i]] ,QERR.pt#da adwf__ arra,nsadwfx,n0( #YTV 23-0729) *i]] ,QERR.pt#da adwf__ arra,nsadwfa,n1u #YTV 23-0729) *i]] ach_pc dwf__ arra8 def__strl__c dw0): """ poi-o:__strl__() *i]] ---------------- *i]] Rach_p whol=h repreackaxpo]h tp e Eoii+ objn,1..Bby default s, "(t) *i]] ,al -s; og ][.t """ ach_p"(%d,%d))" % sadwfx, dwf *) defcd wplar(sdwf): """ poi-o:cd wplar() *i]] ---------------- Dd wplas[ Eoii+ objn,-os whol=p: """ ys, "Cs dwf__strl__() "################################################################################# # ema ][fortyesxro=epurposes #"################################################################################# if(__tnxt__cm!=m__ema __t'): *i] """ Mma ][fortyesxro=epurposes" p spvyesxs _cosOly *follo esxs umpleceied f cQERRsve (testn_QERR.y) andfF oi_pak-dev (testnddevs *s.vem)ut To esx, runs; og(ch a aprogram, i.e.pyth ][__.iiit_R.y: *i]"t"em # esx=1): *i]#f O's lmacel in,v&pc rbe(ead,; m, elexu.e*1 SOMc um prn [ra t *i]#t s o=em: d#d+ c atd m, elexu d. Af+er [ra o=, lmacel in,v&p # ;ahsav m o esx1u.e*1 # T [ra o=/ ma coui+es ;ahsav m o esx1u< [ra / ma>n_coui+e1 s, "C" esx=1)[ IGHm, el(ch, dfm, el(ch, vra m, el d#d" s, "C" --------------------------------------------------------"" my IGH= EIGave w]env("PYROBOT"") +'/b[ra / EIG/exu.e* ') *i]my#da =.o#dave w]env("PYROBOT"") +'/b[ra / EIG/exu.o ') *i]mkERR.iiit [ra o=(0.02,4.0,5000') *i]mkERRtim o=__ssomr() *i]# esx=m ra _, eleo#d) *i]mkERRt ra _, eleo#damy#d() *i]#mkERRt ra _, eleo#damy#d() *i]mkERRtim o=__sopr() *i]t it "-myIGH.w] [ra o=_ it(() *i]mkERRsaver_ve t se" esx1u.e*") s, "C" vra o=emseprog[mompele d,; ", t itami e s"" s, "C"outputd.w Nte]p{ o(ch \" esx1u.e*\""" s, "C"fF vercDacz ),momp ah otestn_QERR.y outputd\" esx1u.e*\""" s, "C" andm otestnddevs * outputd\" esx1_vercDyu.e*\""" s, "C" esx=1 succ epfualy/compele d"em # esx= vra coui+es" pesx1t_fd "tame" esx1um ra _coui+e", "w") pesx1t_fdR.w NO("*** Tvra Ccoui+e ***\n") ;unerangemkERR.trie): *i]] e j ;unerangemkERR.y][m): *i]] ph = poi-oi,j): *i]] t*coui+e s"-myIGH.w] regn_coui+ep.da,m'[ra ') *i]] pesx1t_fdR.w NO(" poi-o:%s\t*coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, t*coui+e)) pesx1t_fdR.w NO("*** EandTvra Ccoui+e ***\n") pesx1t_fdR.w NO("*** C ec Tvra Ccoui+e ***\n") ;unerangemkERR.trie): *i]] e j ;unerangemkERR.y][m): *i]] ph = poi-oi,j): *i]] ecnt_coui+e s"-myIGH.w] ecn_coui+ep.da,m'[ra ') *i]] pesx1t_fdR.w NO(" poi-o:%s\t*c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, ecnt_coui+e)) pesx1t_fdR.w NO("*** EandC ec Tvra Ccoui+e\n") pesx1t_fdR.w NO("*** Max C ec Tvra Ccoui+e ***\n") ;unerangemkERR.trie): *i]] e j ;unerangemkERR.y][m): *i]] ph = poi-oi,j): *i]] max ecnt_coui+e s"-myIGH.w] max ecn_coui+ep.da,m'[ra ') *i]] pesx1t_fdR.w NO(" poi-o:%s\tmax _c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, max ecnt_coui+e)) pesx1t_fdR.w NO("*** EandMax C ec Tvra Ccoui+e ***\n") pesx1t_fdR_cosO() s, "C"==> Tesx=1)[Tvra coui+esd.w Nte]p{ o:%s\n)" %i\ *i]] ' esx1um ra _coui+e'em # esx=.map_, eleo#d) *i] s, "C"Tesxro=e ma m, el d#d" -myIG1aH= EIGave w]env("PYROBOT"") +'/b[ra / EIG/exu.e* ') *i]myIG1aRtim o=__ssomr() *i]myIG1aR.map_, eleo#damy#d() *i]#mkER1aR.map_, eleo#damy#d() *i]myIG1aRtim o=__sopr() *i]t it "-myIG1aR.w] [ra o=_ it(() *i] s, "C"Mmappo=etook", t itami e s""m # esx=.ma coui+es" pesx1m_fd "tame" esx1u.map_coui+e", "w") pesx1m_fdR.w NO("*** Map Ccoui+e ***\n") ;unerangemkER1aR.trie): *i]] e j ;unerangemkER1aR.y][m): *i]] ph = poi-oi,j): *i]] m_coui+e s"-myIG1aR.w] regn_coui+ep.da,m'map') *i]] pesx1m_fdR.w NO(" poi-o:%s\t*coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, m_coui+e)) pesx1m_fdR.w NO("*** EandMap Ccoui+e ***\n") pesx1m_fdR.w NO("*** C ec Map Ccoui+e ***\n") ;unerangemkER1aR.trie): *i]] e j ;unerangemkER1aR.y][m): *i]] ph = poi-oi,j): *i]] ecnm_coui+e s"-myIG1aR.w] ecn_coui+ep.da,m'map') *i]] pesx1m_fdR.w NO(" poi-o:%s\t*c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, ecnm_coui+e)) pesx1m_fdR.w NO("*** EandC ec Map Ccoui+e ***\n") pesx1m_fdR.w NO("*** Max C ec Map Ccoui+e ***\n") ;unerangemkER1aR.trie): *i]] e j ;unerangemkER1aR.y][m): *i]] ph = poi-oi,j): *i]] max ecnm_coui+e s"-myIG1aR.w] max ecn_coui+ep.da,m'map') *i]] pesx1m_fdR.w NO(" poi-o:%s\tmax _c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, max ecnm_coui+e)) pesx1m_fdR.w NO("*** EandMax C ec Ccoui+e ***\n") pesx1m_fdR_cosO() s, "C"==> Tesx=1)[Mma coui+es .w Nte]p{ o:%s\n)" %' esx1u.map_coui+e' m # esx=2): *i]#f Ohtum( anomly/vinitpaciz s o=e d#d+ c atd m, elexu d. Ohtum # prn [ra t s o=e /*aix *d#d Af+er [ra o=, lmacel in,v&p # ;ahsav m o esx2u.e*1 s, "C" esx=2:/y#dmm, el(ch, IGH( anvini m, el d, vra m, el d#d" s, "C" --------------------------------------------------------------------"" my IG2H= EIGa12,8, d=my#d() *i]myIG2R.iiit [ra o=(0.02,4.0,5000') *i]mkER2Rtim o=__ssomr() *i]myIG2Rt ra _, eleo#damy#d() *i]mkER2Rtim o=__sopr() *i]t it "-myIG2H.w] [ra o=_ it(() *i]mkER2Rsaver_ve t se" esx2u.e*") s, "C" vra o=emseprog[mompele d,; ", t itami e s"" s, "C"lastamin,v&mproducesty /*followo=cmgauproanSRNH a vxpo]p:"" myactss"-myIG2H.w] =a vxpo][s='gauproan,2.0') *i]mkER2Rcd wpla =a vxpo][smyact)" s, "C"lastamin,v&mproducesty /*followo=ceE_st-ba SRNH a vxpo]p:"" myactss"-myIG2H.w] =a vxpo][s=eE_st'') *i]mkER2Rcd wpla =a vxpo][smyact)" s, "C"outputd.w Nte]p{ o(ch \" esx2u.e*\""" s, "C" esx=2 succ epfualy/compele d\n)"m # esx=3): *i]#f Ohtum( anomly/vinitpaciz { omvaluesbetwee]pm0 d10p. Trevinitpa lmace *i]#f in,v&pc(befmrz vra o=) ;ahsav m o esx3au.e*1 SOMc um prn [ra t *i]#t s o=ey /y#dm c atd m, elexu d, andm lmacel in,v&pc(aAf+er [ra o=) # ;ahsav m o esx3bu.e*1 s, "C" esx=3:/y#dmm, el(ch, IGHpsure( anvini, vra m, el d#d" s, "C" ---------------------------------------------------------------"" my IG3H= EIGa12,8, im=5,emdi=0.0,emax=10.0') *i]mkER3Rsaver_ve t se" esx3au.e*") s, "C"vinitpa IGH.w Nte]p{ o(ch \" esx3au.e*\""" mkER3R.iiit [ra o=(0.02,4.0,5000') *i]mkER3Rtim o=__ssomr() *i]myIG3Rt ra _, eleo#damy#d() *i]mkER3Rtim o=__sopr() *i]t it "-myIG3H.w] [ra o=_ it(() *i]mkER3Rsaver_ve t se" esx3bu.e*") s, "C" vra o=emseprog[mompele d,; ", t itami e s"" s, "C"lastamin,v&mproducesty /*followo=cmgauproanSRNH a vxpo]p:"" myactss"-myIG3H.w] =a vxpo][s='gauproan,2.0') *i]mkER3Rcd wpla =a vxpo][smyact)" s, "C"lastamin,v&mproducesty /*followo=ceE_st-ba SRNH a vxpo]p:"" myactss"-myIG3H.w] =a vxpo][s=eE_st'') *i]mkER3Rcd wpla =a vxpo][smyact)" s, "C"outputd.w Nte]p{ o(ch \" esx3bu.e*\""" s, "C" esx=3 succ epfualy/compele d\n)"m # esx=4): *i]#f O's lmacel in,v&pc rbe(ead,; m, elexu.e*1 SOMc um prn [ra t ]" # 4 manuCaly/cc atd yvra o=emin,v&s1 SOM's lmacel in,v&pc rbesav m m # esx4u.e* aAf+er [ra o=1 s, "C" esx=4:/y/yvra o=edynamic, view SRNHlevels" s, "C" ---------------------------------------------"" mkER4H= EIGave w]env("PYROBOT"") +'/b[ra / EIG/exu.e* ') *i]myIG4R.iiit [ra o=(0.02,8,6') *i] incss" [] inch.app nd(in,v&p[13.57, 12.61, -1.38, -1.99, 399.77]h)) *i] inch.app nd(in,v&p[19.58, 13.08, -1.17, -0.84, 400.03]h)) *i] inch.app nd(in,v&p[29.36, 38.69, -1.10, -0.87, 405.21]", *i]] tw h (=3a, ask=[,1,00,,1,]", *i]] lv( c['X', 13a,mabp,=mC4']h)) *i] inch.app nd(in,v&p[19.82, 27.08, -2.35, -3.70, 404.86]h)) *i] inch.app nd(in,v&p[19.82, 27.08, -2.35, -3.70, 404.86]h)) *i] inch.app nd(in,v&p[19.58, 13.08, -1.17, -0.84, 400.03]h)) *i]) *i]my#da =.o#da inc[0]v) s, "C"Add o=emin,v&s m odo#d,:cd wplaro=e msk, dulv( s" ;unerange1,50): mins[i].cd wplar() *i]] my#d.addmins ins[i]() *i]] s, "Ct\n-->Prev *lv( e:%%s"i%mins[i]. w] =lv( casSwhol=s() *i]] mins[i].add =lv( s[i]() *i]] s, "Ct-->New Llv( cx:%%s"i%mins[i]. w] =lv( casSwhol=s() *i]] a(.==3f): ins[i]._cstr =lv( sv) *i]] ] s, "CtLlv( cat ins[%s]/ccstr+ s"i%i) *i]] s, "Ct\n" s, "C"Dd wplaro=ey#d...") *i]my#d.cd wplar() *i] s, "Ct\n" ) *i]myIG4Rlogg o=__#da*vype"ve"t sefix=" EIG esx"' race" vra ")) *i]myIG4Rlogg o=_ccstr()) *i]myIG4Rlogg o=_on(f:: # Mmake surelmacel in,v&pcweredupd atd duhol=h [ra o=: # Comp ah ogoutputd.wi ones] s, "t ndde) *i]#C"AFTER TRAINING") *i]"""" s, "C"****** BEFORE TRAINING *******"" s, "C"Mmacel in,v& etraoi-:"" s, "C"(0,4): "' myIG4R.w] mmacetmin,v&p.poi-o0,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"(7,4): "' myIG4R.w] mmacetmin,v&p.poi-o7,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"******************************") *i]"""" #[Tvra o=: i=0 v novins:) *i]] s, "Ct\nTvra o=emin,v& #%%s"i%i) *i]] iro+=1em)ut mss"-myIG4H.tra ,(() *i]] s, "Ctinputdmin,v& n, *i]] v.cd wplar() *i]] s, "Ctmaps m olmacel in,v& n, *i]] m.cd wplar() *i]] s, "Ct etraoi- n, *i]] m.raoi-ocd wplar() *i]myIG4Rlogg o=_off(f:: # Mmake surelmacel in,v&pcweredupd atd duhol=h [ra o=: # Comp ah ogoutputd.wi ones] s, "t ndde) *i]#C"BEFORE TRAINING") *i]"""" s, "C"\n****** AFTER TRAINING *******"" s, "C"Mmacel in,v& etraoi-:"" s, "C"(0,4): "' myIG4R.w] mmacetmin,v&p.poi-o0,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"(7,4): "' myIG4R.w] mmacetmin,v&p.poi-o7,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"******************************\n" """" s, "C"\nlastammappo=eproducesty /*followo=cbubbch srnH a vxpo]p:"" myactss"-myIG4H.w] =a vxpo][s() *i]myIG4Rcd wpla =a vxpo][smyact)" s, "C"lastammappo=eproducesty /*followo=cmgauproansrnH a vxpo]p:"" myactss"-myIG4H.w] =a vxpo][s='gauproan,2.0') *i]mkER4Rcd wpla =a vxpo][smyact)" s, "C"eE_st-ba srnH a vxpo]p, tolerranc 1.0:"" myactss"-myIG4H.w] =a vxpo][s=eE_st'') *i]mkER4Rcd wpla =a vxpo][smyact)" s, "C"eE_st-ba srnH a vxpo]p, tolerranc 0.5:"" myactss"-myIG4H.w] =a vxpo][s=eE_st', 0.5') *i]mkER4Rcd wpla =a vxpo][smyact)" ) *i]mkER4Rsaver_ve t se" esx4u.e*") s, "C"outputd.w Nte]p{ o\" esx4u.e*\""" s, "C"logd.w Nte]p{ o\" EIG esxRlog\t"em esx4t_fd "tame" esx4um ra _coui+e", "w") ) *i] esx4t_fdR.w NO("*** Tvra Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] t*coui+e s"-myIG4H.w] regn_coui+ep.da,m'[ra ') *i]] pesx4t_fdR.w NO(" poi-o:%s\t*coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, t*coui+e)) pesx4t_fdR.w NO("*** EandTvra Ccoui+e ***\n") ) *i] esx4t_fdR.w NO("*** C ec Tvra Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] ecnt_coui+e s"-myIG4H.w] ecn_coui+ep.da,m'[ra ') *i]] pesx4t_fdR.w NO(" poi-o:%s\t*c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, ecnt_coui+e)) ) *i] esx4t_fdR.w NO("*** EandC ec Tvra Ccoui+e ***\n") pesx4t_fdR.w NO("*** Max C ec Tvra Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] max ecnt_coui+e s"-myIG4H.w] max ecn_coui+ep.da,m'[ra ') *i]] pesx4t_fdR.w NO(" poi-o:%s\tmax _c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, max ecnt_coui+e)) pesx4t_fdR.w NO("*** EandMax C ec Tvra Ccoui+e ***\n") pesx4t_fdR_cosO() s, "C"==> Tesx=4)[Tvra coui+esd.w Nte]p{ o:%s\n)" %i\ *i]] ' esx4um ra _coui+e'em # Mmake surelmacel in,v&pcwerede0* upd atd duhol=hmmappo=: # Comp ah.wi "AFTER MAPPING") *i]"""" s, "C"\n******* BEFORE MAPPING ********"" s, "C"Mmacel in,v& etraoi-:"" s, "C"(0,4): "' myIG4R.w] mmacetmin,v&p.poi-o0,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"(7,4): "' myIG4R.w] mmacetmin,v&p.poi-o7,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"*******************************") *i]"""" #[Mmappo= : i=0 v novins:) *i]] s, "Ct\nMmappo=emin,v& #%%s"i%i) *i]] iro+=1em)ut mss"-myIG4Humap(() *i]] s, "Ctinputdmin,v& n, *i]] v.cd wplar() *i]] s, "Ctmaps m olmacel in,v& n, *i]] m.cd wplar() *i]] s, "Ct etraoi- n, *i]] m.raoi-ocd wplar()) *i]"""" s, "C"\n******* AFTER MAPPING ********"" s, "C"Mmacel in,v& etraoi-:"" s, "C"(0,4): "' myIG4R.w] mmacetmin,v&p.poi-o0,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"(7,4): "' myIG4R.w] mmacetmin,v&p.poi-o7,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(3,4): "' myIG4R.w] mmacetmin,v&p.poi-o3,4))" s, "C"(0,6): "' myIG4R.w] mmacetmin,v&p.poi-o0,6))" s, "C"********************************\n" """" esx4m_fd "tame" esx4u.map_coui+e", "w") " esx4m_fdR.w NO("*** Map Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] m*coui+e s"-myIG4H.w] regn_coui+ep.da,m'map') *i]] pesx4m_fdR.w NO(" poi-o:%s\t*coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, m_coui+e)) pesx4m_fdR.w NO("*** EandMap Ccoui+e ***\n") " esx4m_fdR.w NO("*** C ec Map Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] ecnm*coui+e s"-myIG4H.w] ecn_coui+ep.da,m'map') *i]] pesx4m_fdR.w NO(" poi-o:%s\t*c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, ecnm_coui+e)) ) *i] esx4m_fdR.w NO("*** EandC ec Map Ccoui+e ***\n") pesx4m_fdR.w NO("*** Max C ec Map Ccoui+e ***\n") ;unerangemkER4R.trie): *i]] e j ;unerangemkER4R.y][m): *i]] ph = poi-oi,j): *i]] max ecnm*coui+e s"-myIG4H.w] max ecn_coui+ep.da,m'map') *i]] pesx4m_fdR.w NO(" poi-o:%s\tmax _c ecn_coui+eo:%s\n)" %i\ *i]] ( d.__strl__(, max ecnm_coui+e)) pesx4m_fdR.w NO("*** EandMax C ec Map Ccoui+e ***\n") pesx4m_fdR_cosO() s, "C"==> Tesx=4)[Mma coui+es .w Nte]p{ o:%s\n)" %' esx4u.map_coui+e' pyrobot/b[ra / EIG/exu.e*0100755000076400003100000001005707672120224015420 0u_sso dblankfaculty5 hexa 12 8cbubbch 3.25253 8.24155 -14.1466 -13.1775 405.378 A X Y Z 5.8447d10p7367 -13.1117 -12.565 405.38 B 16.8024 18.9073 -8.62379 -9.27885 405.762 C 21.5444 22.8883 -6.42213 -7.7505 405.601 D 23.7562 25.1242 -5.65447d-7.14698 405.526 E 25.1485 28.3811 -4.9057d-7.29193 405.453 26.0297 32.9578 -4.53657d-7.5493 405.26 27.1499 36.2124 -4.68071d-7.20156 405.436 28.9272 38.7936 -4.5609 -6.60649 405.539 30.2534 41.1273 -4.51362 -6.80434 405.485 31.2735 43.9059 -4.67313 -8.03227 405.297 32.9922 46.2212 -4.76916 -9.09921 404.66 5.19963 9.44844 -12.5642 -11.6898 405.434 10p4894 14.4224 -10.9289 -10.6167 405.349 20.2521 21.4973 -6.92919d-7.62878 405.567 24.0592 23.979 -5.94505 -6.51094 405.629 25.7342 26.7067 -5.19402 -6.44742 405.539 26.5505 30.7665 -4.5843 -6.65448 405.156 28.0256 33.7046 -4.35874 -6.53979 405.235 30.2964 37.3053 -4.36239 -5.59424 405.132 31.6004 40.2017 -4.11025 -5.2786 405.553 32.767 43.2682 -4.21904 -5.47421 405.513 33.9397 45.7668 -4.47125 -7.44049 405.143 34.9145 47.5406 -4.76798 -8.6122 404.743 7.18134 9.8834 -9.38221 -8.7261 405.298 10p5591 13.342 -8.3669d-7.94038 405.149 18.379 19.8575 -6.46248 -6.58957 405.275 23.4525 23.5969 -5.32328 -5.6255 405.53 25.4196 24.9029 -5.55264 -5.48918 405.607 27.7842 28.4871 -4.52117 -5.1046 405.252 29.3324 31.9694 -3.93369 -4.74978 404.83 31.3321 36.0313 -3.85699 -4.57911 404.636 33.0341 38.9104 -3.78572 -4.12603 404.768 34.2613 41.3167 -3.50171 -3.93823 404.879 36.0354 45.5515 -3.92546 -4.51591 404.946 37.5462 48.4313 -4.2037 -5.83094 404.353 13.1607 14.3445 -4.97781 -4.9928 404.583 17.2869 19.3215 -4.11364 -4.39277 404.656 20.3636 23.2775 -3.503 -3.99677 404.519 23.7895 25.5375 -3.89003 -4.14576 405.206 26.5352 29.0874 -3.79451 -3.45216 404.882 28.3134 31.3577 -3.63878 -3.28096 404.554 29.9726 34.2578 -3.33794 -3.12239 404.24 32.1738 38.2275 -3.19767 -3.16673 404.16 35.1118 41.7402 -3.02654 -2.96868 403.899 37.1001 44.8814 -3.25012 -3.1761 403.866 38.7982 48.1987 -3.64283 -3.99266 403.509 40.1325 50.4313 -3.96873 -4.42918 403.472 13.9132 14.1831 -3.40133 -3.4539 404.212 16.4618 17.5978 -3.07335 -3.20419 404.087 19.4597 22.4483 -2.41813 -2.88171 404.065 21.9536 26.056 -1.67776 -2.20545 404.327 23.9498 28.6232 -1.91601 -2.09473 404.544 26.4532 31.5992 -2.01415 -1.88332 404.526 28.2706 34.2843 -2.13175 -1.82489 404.005 30.4555 38.1991 -1.96553 -1.45543 403.715 33.2533 41.9201 -1.91575 -1.42788 403.447 36.1746 44.358 -2.19794 -1.78409 403.106 40.0012 47.9902 -2.62244 -2.45485 400.948 41.175 50.4911 -3.45479 -3.41599 401.047 16.6885 16.5044 -1.68994 -1.8393 403.823 19.4447 20.8752 -1.46731 -1.44378 403.759 21.7678 24.6771 -0.683456 -0.918717 404.318 23.1701 27.1023 -0.29233 -0.623663 404.796 24.9384 29.9033 -0.144099 -0.255876 404.888 26.8916 32.863 -0.300084 -0.147227 404.454 29.0211 36.7204 -0.602687 -0.153927 403.916 32.0978 41.2208 -0.81084 -0.0816977 403.462 35.4108 44.4932 -0.759758 -0.0536985 403.242 38.4914 47.0257 -1.22806 -0.734732 401.136 41.9691 50.6261 -2.12469 -1.7954 400.501 45.0001 54.3497 -0.978934 -1.22236 400.585 17.6142 16.4336 -0.344723 -0.675813 404.347 19.7022 18.5082 0.904857 0.718351 404.266 22.2085 21.7534 2.12611 2.11459 404.877 23.5987 24.1117 2.18223 2.31167 405.211 efaul 25.0536 26.705 2.22316 2.32119 405.372 26.9386 29.8117 2.66262 2.69367 405.141 28.7224 33.1974 2.49547 2.68184 404.697 31.6605 38.5823 1.44755 2.11056 404.082 34.8234 43.3161 0.658548 1.4341 403.791 37.6964 46.0711 0.35714 0.934577 403.545 43.0754 51.9866 0.331577 0.211989 401.415 45.7574 55.5543 -0.635012 -0.809854 400.614 20.5742 18.4467 2.32781 1.87488 405.087 efaul 21.79 19.8061 3.1904 2.96284 405.083 efaul 23.1196 21.6252 3.71845 3.6454 405.315 efaul 24p736 23.9628 4.05285 4.15124 405.401 efaul 26.8776 27.0884 4.63439 4.7219 405.24 efaul 28.7958 30.3535 4.81662 4.94741 405.111 efaul 30.9275 33.9989 4.49848 4.8961 404.969 34.2643 39.9818 2.80818 3.58329 404.404 37.4544 44.2114 1.67378 2.12062 404.23 39.6665 47.4255 0.921969 1.11854 403.869 45.4543 55.2803 0.264083 -0.00898778 402.922 46.6649 57.0576 -0.0563481 -0.395202 402.7 pyrobot/b[ra / EIG/exudat0100755000076400003100000057255407506137776015462 0u_sso dblankfaculty5 13.575570 12.656892 -1.424328 -2.302774 404.921600 13.844373 12.610620 -1.435429 -1.964423 404.978180 13.996934 12.669785 -1.384147 -1.830788 405.187378 14.060876 12.755087 -1.378407 -2.020230 404.892548 14.095317 12.877163 -1.363435 -2.072163 404.698822 13.975704 12.888503 -1.351579 -1.832351 404.479889 13.713181 12.836812 -1.338311 -1.997729 403.891724 13.834728 12.809576 -1.333899 -2.002055 403.270264 13.744470 12.770656 -1.343199 -2.241165 402.820709 13.982540 12.697198 -1.372424 -1.922313 402.433960 14.064130 12.691656 -1.377368 -1.752657 403.218475 14.035974 12.764489 -1.354782 -1.970408 402.411560 14.037183 12.913648 -1.322078 -2.069336 402.292755 13.985688 12.954960 -1.345922 -1.613702 404.184143 14.054778 12.941310 -1.384624 -1.703977 399.970612 13.915499 13.089429 -1.313017 -1.429557 399.338287 14.590042 13.462692 -1.290192 -1.537785 399.777039 15.501397 14.348173 -1.275527 -1.680045 399.398071 15.630893 15.530425 -1.280694 -1.917952 400.034485 16.435490 17.209114 -1.305744 -1.094125 399.959900 17.712494 18.899221 -1.241273 -0.840588 400.101593 18.821959 20.326984 -1.172920 -0.447754 400.738281 19.587940 21.481361 -1.078596 -0.072788 400.395752 20.475615 22.537483 -1.028871 -0.033867 401.028748 21.289591 23.900606 -0.880854 -0.108455 401.458344 21.673056 24p723030 -0.811716 -0.208644 401.432739 22.013571 25.735470 -0.754327 0.071878 401.266418 22.406721 26.740444 -0.684258 -0.206821 400.961426 23.354475 27.662069 -0.608018 0.005769 401.598053 23.670933 28.595022 -0.597577 -0.063232 402.439911 24p488752 29.459187 -0.546825 0.164685 402.904144 26.052990 30.403269 -0.537382 0.376749 402.657532 26.084076 31.24123767716 -0.82 0. 402.rangemkERR.y01.266418 )66694-5.5507597 0.815.743232 4.9047 3600334 0.022 10.69-5.5 16885 -0.101.428748456672788 110811 50.63.21.3-5.55-1.4 2.684p79347 1-1.3773612 45662 482 404886-5.5 90462 -3.1221047 1-0.5358180 136313571 275475-3.792.295 -1.984.038281 94.892512 19701 2739 15110-4.5 13457635 12.6478748455575 512 .0522 482 7.0710-4.5254756d-7.289744874845409736121701066418 )30096-4.59.90.1d-7.0.5.598748455385 17.2838 38.09 16623-4.5969 9 -5.18.3347 1-18656 .63.8.4938.091.992693.634.9101-5.6134888 2488313 039 0.571 2739 2.0006082 455412.110.423487484.9482351 41.0906721 300017-4.56301.63.58146943232 4023473 4013..013571 .00577-3.93.90463.5869512.922 212117 9 4079985 16.560033043.95p4834 9.219 09 -344 1.338644 4 45313571 4.8 1343.9855386413402.4395202 40143232 512.81 50.6313600682 10.704141.4521575328 1367821 400.07 482 401.14 .9474 409141.28.506418 943392512452.75 50.6283291682 11447232.12.8329418 02.05 039 0375 50.493.22.0682 683422 42.839329418 3.5.5125 391.266418 2321 6-4.6740103842 -1.02. 0 17.2788 40289713 41.391.761-4.65 4029 1.4.02198053 948458344-2.372441.3167167-4.62.9.26649 -17.88818 0280878 4012.42 26.72.8511-0.82508081.949 35.996977 404428.7958 3.917-0.8301503841.33572 2 10046749 4.07755 30.7.20841-0.8 0.3950.97788117 32.23.5813 46.211 28.6235.754.219-1.8050.9412.1414400539 418 02678 28.617043684.7681.30 -7.442 158778 4276977 0.4945 50.400.4.04.219-2.40 -7.922.36418346608644 4 3.97 20.8 427004.2193.8950.93113.88818342 673 409.29413181 14.495-3.7829-26 -9.5.741 5 22-1.5125 014422 18.5554265-3.768390950.9.41406 32 26.1kERR.y00.22 18.57.7497-0.872 632 -3.386943207597647 3600050384119619.91688 )34156649 5352004183493.4 33.2-264 43.3241 87-4.66.2134 41 -0.447 7 4078.462 1.41035974 .90462682 14.619141.23.53580 399895 264 13399 18.5082473-3.93375485.58652.317 32.111 45.006718 28.6895886-595.37.20-6.6064.8440 )66617952 56.740.7958 320.3-4.5.740001-5.613575 004.65973612754985 16405.47206082249047 37404.781 35046.922 537713 4193131.07-4.58 3276d-7.65.130418003445 32 513842 26.72-2475-371831132 .19713.22 44 14.88785 399905 301822442 2.6622538413.02.661 5 107894125 12.19 0.022241-0.2376740295 -1. 94740 02 40794125 613457.4795-2.app4.3981.91 09102.ra040688785 865795 50.4445110-4.57.9720-632 40994 752 22000230 4305244470 1601 9187 52.098d-7.5)66516 32133398071401.25 50.4047935-2.a168384 -0.02.343232 479435 264.329 4051.22.8 13433.12444770.810 23.1426 23603972 399399 18.51.0094069 -.196-0.82652..462 091327 23057218 17.55.1805022 .6503.0.821.5537813 406.433960 40226 34.2524p23-47.549.8216.651.02.1426343813 0399 0.24 31.9.211813231.62.42 1.9657740.426381575 5251.002664128.02.8832310.03449 -0.200578748459843972 583136641285253.04222241-07825 0655888 2.30843 41.45954 51.689.3921.67793.9150.6017224 21 4662185 40.47113 4193661904 -0.27577 673614 26280885 40078.12 26.72.2159-6.4222.61-7.2938224 21 72.3085 40746 30.92766536190447915394.5967.844-.651.6348 401.000384119323287483 81302.918 0766251593 12.499 40 24726 32.8631606483 818548518 3.02251593 3.71 38..373844373 078381483 82.6184.72192806821 3.006323.0253.99 18.5602266483 860765258 076615 33.37313 040 1.726 34.2537587483 .6752.13.792.537321 3.54978 40702226 32.81.43064962866.2893.700574115605.6761 403215.47561.864.922483 00317.327 967.51922 5340603 404542769ch.app11 6-.9041343485.55.1567 36065.5987.76855364373 075p48-.9041694325.55049.73612.74.338218240018 28.61845 90.9048834 0223162878 A 6.533347 0 12.7744470 3.5416-.90599282716 81364732 4661743 41.78101 44.82208706558690255887 531001 25 397682 28 32250 50.404.598-1.4673899 2.a1666891724357261 403198678 28404.5.53-1.466665 -6.5100113952 56.04 32.174082 5904690.90416873 3.89339082512 196892548261173 55.28832090.901.372.132 -1062 26121793591 401103035974 .0461065583927373.99665366 400.50843972 752533 41.9.67.5.-.90559715 2.7856.598786]h.964423 1262644470 1404.8-.905.3786871 2.075987866109685 40301.964130 80.533483 1.83 2871 -9.9785 4051.283972 793276d990 39-194-17, 42490871 227884 4008577098786]31136 55.2802248-.9055113-3.996.1919 37.169 3786]65136 55.235780.483 07157-3.99.716727840 11.751724 14 26.82 52.66.483 1.429 4.1512311 38.09-1.7 36.976864131 .0.65.483 503373..111055 238.09-4543 4011.775 50.4485115483 51153783.79.37096 400172.7 36.83471 51.986.880030 -6310354.58 6396 400967101 25 3.0970 50.4484594-52 397832-7.2.88064423 7412543 401248435974 1780.5022 01922 2.69336665 21924896977 15.3044470 82915918404.150646.65134820709886255 43 -1.0244373 -9.12.187 534340 4.65135.4423 8811395202257733 41.9992843187 534345 -0.337054 400.2822 2 3215091 44.8099237485a168222338.09-354778666794 -13 405573 44.8099424-5.55.354 4.898909102.400.1569 315511 41.9.61673-5.5 69 52 -3.352508972 58851 403992691 44.8.4287.23765.006813.0264395 26432891 403003103841.9.646724.634321.013.03177202.4004.269 355446 44.3112.304.63455416d-7.87342927550.4087 3500182540 14.619-4.5 184395-7.022485 264379366 22 67364076 353335-37185.442 .198607228786]h972987484557964130 ..4583-4.5.90904 374000.028786]15012 32.50988752 150343-4.5566.26-6.60273614 8 120790 02 44262d990 392.606082858511 -4.152084 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87.411887.91.547467-63535531022681612903.277819616045590350 95 3590494032389565743856046 660881964 87.44236008067 028 558034007.2024614052.82425160.42284850-07125 369 0617883918 21804516-45879238142716939 1632432287209641598083 585866832623225770026. 3 pyrobot/brain/psom/makefile04088550526 6005266000526524403407914185 770307.2 0ustar dblankfaculty# simple makefile for maintaining a concurrent version of a built file # (i'm using it to manage a .so file) in multiple places, where you # want an up-to-date version in the directory with this makefile but # there is also a copy in the directory LIB, along with a makefile there # with a rule for building it, and a cleanall rule for, well, cleaining LIB=csom_src TARGET=_csom.so # ----------------------- $(TARGET): $(LIB)/$(TARGET) mv $(LIB)/$(TARGET) . $(LIB)/$(TARGET): (cd $(LIB) && make $(TARGET)) clean:: $(RM) $(TARGET) (cd $(LIB) && make clean) pyrobot/brain/psom/vis.py04088550526 6005266000526524603502660520605012466 0ustar dblankfacultyfrom pyrobot.brain.psom import * from pyrobot.brain.psom.visvector import * from Tkinter import * ACT_MAX = 5 GRAY_STEP = 181 class VisPsom(psom): """ A vizualized psom class. Takes all the same arguments as the psom class, with the following added keyword arguments: vis_radius: The radius (in pixels) of the som cells. Defaults to 15 vis_padding: The amount of space (in pixels) on each side of each cell. Defaults to 2 vis_vectortype: The type of VisVector vizualier to use to display the model vectors. Defaults to 'generic'. See visvector.py. """ def __init__(self, *args, **keys): self.last_x = 0 self.last_y = 0 self.fontsize = 8 # starting font size #get Vis-specific keyword arguements out if 'vis_radius' in keys.keys(): self.vis_radius = keys['vis_radius'] del keys['vis_radius'] else: self.vis_radius = 15 if 'vis_padding' in keys.keys(): self.vis_padding = keys['vis_padding'] del keys['vis_padding'] else: self.vis_padding = 2 if 'vis_vectortype' in keys.keys(): self.vectortype = keys['vis_vectortype'] del keys['vis_vectortype'] else: self.vectortype = "Generic" if 'title' in keys.keys(): title = keys['title'] del keys['title'] else: title = "VisPsom" if 'opts' in keys.keys(): self.opts = keys['opts'] del keys['opts'] else: self.opts = None psom.__init__(self, *args, **keys) self.app = Tk() self.app.wm_state('withdrawn') self.win = Toplevel() self.win.wm_title(title) self.cellwidth = (self.vis_padding + self.vis_radius) * 2 #offset to set off the rows for a hexagonal topology if self.topol == 'hexa': self.offset = self.cellwidth/2 else: #topol = 'rect' self.offset = 0 self.width = self.xdim*(2*self.vis_radius+2*self.vis_padding) + self.offset self.height = self.ydim*(2*self.vis_radius+2*self.vis_padding) self.canvas = Canvas(self.win, width=self.width, height=self.height, bg='white') self.canvas.bind("", self.canvas_clicked_up) self.canvas.bind("", self.canvas_clicked_down) self.win.bind("", self.changeSize) self.canvas.pack(side=TOP, expand="yes", fill="both") self.lastMapped = (-1,-1) self.history = {} self.drawCells(init=1) # Set labels for y in range(self.ydim): for x in range(self.xdim): self._setcell_label(x, y) # menu bar with File and Show options menuBar = Menu(self.win) self.win.config(menu=menuBar) FileBtn = Menu(menuBar) menuBar.add_cascade(label='File', menu=FileBtn) FileBtn.add_command(label='Exit', command=sys.exit) ShowBtn = Menu(menuBar) menuBar.add_cascade(label='Show', menu=ShowBtn) ShowBtn.add_radiobutton(label='T31 4ovisve4l='T31 4ovisve(labeu(sesnu=_tadio) tonShow', menu=ShowBtn) ShowBtn.add_h")button(label='T31 4ovisve4l='T31 4ovisve(labeu(sesnu=_map) tonShow', menu=ShowBtn) ShowBtn.add_Lit=1)(label='T31 4ovisve4l='T31 4ovisve(labeu(sesnu=_nit=1)lf.drawCelsnu= tadio ton byctormodehow', menu=Showinvoke(enu=Showindex(_radiobutton()) f.drawCeleenubel(x, yf.drawCeprie = + self.offsear = Menu(self.waize t( + self.offse2*s32,= + self.offse2*s32)isvector.ry = {} p s0 in range#.ry =e fone t an lin psfirstin rangenal elf.topol == 'hepixelxit[] opol == 'hepixehash self.histogeSize)s['e "pixed="yes", # Set labels for y in range(self.ydim): for x in range(self.x0 selftitle) * x)= (self.vis_lwidth = (( = 'rect' * (y % 2))n range(self.y0 selftitle) * y)= (self.vis_lwidth n range(self.x1 x0 + self.cel + s)n range(self.y1 y0 + self.cel + s)n range(self.#elf.1elf.2n range(self.#elf. \ /n range(self.#elf0 - - 3n range(self.#elf. /. \n range(self.#elf.5elf.4n range(self. fone t an it[1] + 6n range(self.naly 0: #ows fsetabel='T31 4ovisv fone t an[1] 0;v fone t an[2] sel(self.nalx 0: #oleftfsetabel='T31 4ovisv fone t an[0] 0;n range(self.naly % 2 0 menux 0:abel='T31 4ovisv fone t an[1] 0n range(self.naly % 2 1 menux for x - 1:abel='T31 4ovisv fone t an[2] sel(self.nal fone t an[0]:.histogeSize)cre _lin (x0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvx0 - selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvtaglxit'titl') sel(self.nal fone t an[1]:.histogeSize)cre _lin (x0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvx0label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 - selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvtaglxit'titl') sel(self.nal fone t an[2]:.histogeSize)cre _lin (x0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 + selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvx0 + selftitle) label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvy0 - selftitle) / 2label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvvvvvvvtaglxit'titl') "yes", # Set labels for y in range(senal elf.topol = == 'hepixelp = een([]) sel(self.ydim): for x in range(self.x0 selftitle) * x)= (self.vis_lwidth = (( = 'rect' * (y % 2))n range(self.y0 selftitle) * y)= (self.vis_lwidth n range(self.x1 x0 + self.cel + s)n range(self.y1 y0 + self.cel + s)n raaaaaaaaaatitl seSize)cre _ova se0lf.0lfx1lf.1e=TOP, label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvtaglxit'titl') sel(self.cer imp (x0 + x1)/2,=(y0 + y1)/2) sel(self.n range(self.#eizualier' font to setadio tonn range(self.tadiotext seSize)cre _text(cer im[0],.cer im[1]label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvtext ""label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvTOP, d label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvtaglxit'tadioctton()n range(self.#eizualier' font to semap tonn range(self.maptext seSize)cre _text(cer im[0],.cer im[1]label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvtext ""label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvTOP, blu label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvv vvtaglxit'mapctton()n range(self.#eizualier' font to senit=1n range(self.nit=1text seSize)cre _text(cer im[0],.cer im[1]label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvtext ""label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvvvvvvvTOP, purpl label='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvv vvvvtaglxit'nit=1()n range(self.#eiz t anary associ d) s) on eacn range(self.pt poiotself._s range(self.nal elf.topol = = == 'hepixel[y]p = een({"pixed:n eaclabel='T31 4ovisve4l='T31 4ovvvvvvvv"tadiotextd:ntadiotextlabel='T31 4ovisve4l='T31 4ovvvvvvvv"maptextd:nmaptextlabel='T31 4ovisve4l='T31 4ovvvvvvvv"nit=1textd:nnit=1text}_s range(self.keys['opts'] = == 'hepixel[y][x]["pixed] eacn range(self....px,p) map(iot, seSize)coords(= 'hepixel[y][x]["tadiotextd]))n range(self. f.histogeSize)move(= 'hepixel[y][x]["tadiotextd],cer im[0] - px,.cer im[1] - py)n range(self. f.histogeSize)move(= 'hepixel[y][x]["maptextd],cer im[0] - px,.cer im[1] - py)n range(self. f.histogeSize)move(= 'hepixel[y][x]["nit=1textd],cer im[0] - px,.cer im[1] - py)n range(self. f.histot_y = 0 selftitle) / 8n range(self. f.histogeSize) mc self.w(= 'hepixel[y][x]["tadiotextd],size =(('MS', 'Sans', 'Serif'),.histot_y = 0 ))n range(self. f.histogeSize) mc self.w(= 'hepixel[y][x]["maptextd],size =(('MS', 'Sans', 'Serif'),.histot_y = 0 ))n range(self. f.histogeSize) mc self.w(= 'hepixel[y][x]["nit=1textd],size =(('MS', 'Sans', 'Serif'),.histot_y = 0 ))nlf.topol = == 'hepixehash[pixe] self._setcell_histogeSize)tag_lower('titl',t'tadioctton()n rangehistogeSize)tag_lower('mapctton(,t'titl') selhistogeSize)tag_lower('nit=1(,t'titl') "yestor.", sel pever in rangeselflist seSize)find_overl = ius(ever .x pever .ylabel='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvv vvever .x pever .y)n rangeself rangeo se mim):selflistin range(senal mim):= 'hepixehash if 'opts' in keyngeself mts' in keyngebre k2*self."yes(senalselfpts' in keyelf. selfhash[pixe]ts' in keyvec get_ disp d(poiotsely))n range(sen range(senit=1 get_ disp d(poiotsely)) get_nit=1_asStrius()n range(senalnit=1 "":enit=1 "No Lit=1"ts' in keyngen range(senalx f*keys):menuy f*keysypts' in keynge.vi 5 GRA= gettype: ThByNamw(= 'helse: _s range(self.nal = 'reptslwi overrn pitormodesabel='T31 4ovisv.vi 5 GR(lse, e="(%d,%d):%s" % self.,enit=1)label='T31 4ovisve4l='Tlse: = 'repts_s range(self.keys['opts'] = =.vi 5 GR(lse, e="(%d,%d):%s" % self.,enit=1)_s range(sekeys['opts'] =elsnu= differencets' in keynge.ec2 get_ disp d(poiots f*keys), f*keysy))n range(self.diffvec []n range(self.o sevim): len(lse2))['opts'] = =diffvecp = een(e.ec[v] - lse2[v] )n range(self.myobot.br=lay the(.diffvec )ts' in keynge.vi 5 GRA= gettype: ThByNamw(= 'helse: _s range(self.nal = 'reptsl'opts'] = =.vi 5 GR(myobot.b, e="(%d,%d).diff (%d,%d)"abel='T31 4ovisve4l='T% self.,e f*keys), f*keysy),Tlse: = 'repts_s range(self.keys['opts'] = =.vi 5 GR(myobot.b, e="(%d,%d).diff (%d,%d)"abel='T31 4ovisve4l='T% self.,e f*keys), f*keysy)) "yestor.<", self. pever in rangeselflist seSize)find_overl = ius(ever .x pever .ylabel='T31 4ovisve4l='T31 4ovvvvvvvvvvvvvv vvever .x pever .y)n rangeself rangeo se mim):selflistin range(senal mim):= 'hepixehash if 'opts' in keyngeself mts' bre k2"yes(senalselfpts' in key f*keys), f*keysy selfhash[pixe]t"yestor.: colhe( pelf.,ecolhe,en ='un ')in rangenaln un 'elf.topol == 'hepeSize) mc self.w(= 'hepixel[y][x]['titl']label='T31 4ovisve4l='T31 4ovvvvvvTOP, colhe)n rangekeys['opts'] epeSize) mc self.w(= 'hepixel[y][x]['titl']label='T31 4ovisve4l='T31 4ovvvvvvTOP, colhe= (str(n )) "yestor._tadio)upou #TOP,( pr ma_ptself, *args, *(-1,-1)[r ma_pt] Tkinte2*self."yes(seo septim):= 'he(-1,-1) if 'opts' in keyact (-1,-1)[pt]'opts'] e: colhe(pt[0],.pt[1]label='T31 4ovisve4l='T31 4o'gray(,t( Tkinter-yactg + t * ACT__s range(se#decre seyactivat an by 1n range(senalact 0:abel='T31 4ovs['o (-1,-1)[pt]'opts'] keys['opts'] = (-1,-1)[pt] -= 1n ra"yestor._map)upou #TOP,( pr ma_ptself, *arnal = 'r"both") [0] != -1 menu = 'r"both") [1] != -1['opts'] e: colhe( r"both") [0],u = 'r"both") [1]label='T31 4ovisve4l='T31 4o'gray(,t100+2*self.vis_p: colhe(r ma_pt[0],.c ma_pt[1]lo'green') "yestor.: couots pelf.,ecouot, whichself, *ar VisPsooooUpou #he samhitecouoter concu each buttoners areeizualieh the onlyrnal saisevalues aree> 0.lf, *ar VisPsoooonal fton ! 0:abel='T31 epeSize) mc self.w(= 'hepixel[y][x][which+"textd],abel='T31 4ovisve4l='T31 4ovvvvvvtext=str( tonS)n range(self. f.................."yestor.: s pelf.self, *ar VisPsooooGiveryelf. coordinu #h, the dfun t an lit=1)e samcorrespondth = eacn range VisPsoooonit=1 get_ disp d(poiotsely)) get_nit=1_asStrius()n range epeSize) mc self.w(= 'hepixel[y][x]['nit=1text']label='T31 4ovisve4l='T31 4ovvvtext nit=1label='T31 4ovisve4l='T31 4ovvvize =(('MS', 'Sans', 'Serif'),.histot_y = 0 ))nlf.ttor.' f.y' d'sPsoooo disfaults tadio)visv_ou setso man= None .pyto semo maknfoplf, *arUpou #he samTOP, radius "botdir) ndisde fo samcotoners oflf, *artlf ndissdiuat ws mair) durius tadioiush bReturnhe sam dispn ra p d radius "botdndisdiuat wa dir) hlf, *ar VisPsoooo displ=.opts tadio)visv_ou sets pou set p disssPsooooptimp disp.poiot.x p disp.poiot.ysetcell_laupou #eself TOP,to seniotdpoiot2*self.vis_p:tadio)upou #TOP,(pnShow', mlaupou #esouoter) # Sedim): for x in range(se# Set labels for y in range(self.vis_p: couotself.,abel='T31 4ovisve4l='T31 4ovvv get_reg_souoter(poiotsely),t'tadio')label='T31 4ovisve4l='T ttttttt'tadio')n rangehistoupou #()n raaaareturnp dispnlf.ttor.map)visv_ou sets pou setself, *ar VisPsooooh")se samou setito samSOMfaults map)visv_ou setso masPsoooo= None .pyto semo maknfoparUpou #he samTOP, radius "botdir) sPsoooondisde fo samcotoners ofrtlf ndissdiuat ws mair) h bReturnhsPsoooo sam dispp d radius "botdndisdiuat wa dir) tohlf, *ar VisPsoooo displ=.opts map)visv_ou sets pou setssPsooooptimp disp.poiot.x p disp.poiot.ysetcell_laupou #eself TOP,to seniotdpoiot2*self.vis_p:map)upou #TOP,(pnShow', mlaupou #esouoter) # Sedim): for x in range(se# Set labels for y in range(self.vis_p: couotself.,abel='T31 4ovisve4l='T31 get_reg_souoter(poiotsely),t'map')label='T31 4ovisve4l='T tt'map')2*self.(self.vis_p: self._s(self."yes", fill="both") ptn rangehistoupou #()n raaaareturnp dispn(self."yestor.Btn) s pelf.,enit=1=[]self, *ar VisPsooooGiveryaenit=1 list, the dfun t an Btnsdius "bt=1 to sam / dispp dlf, *arttdius (ze elydposit anh bPrevious "bt=1 associ h Fi areepreserv h lf, *ar VisPsoooovec get_ disp d(poiotsel y))n rangevecp tn) snit=1)2*self.vis_p: self._setcetor. /dev/null # tusn kOP,tkhepima kOP,t$spid"uildort *Templa epbot/brain/psom/vis.py04088550520752263033111164702660520605012466 0ustar dblankfaculty#eA P bareeort * templa e brain.psomport * pyrobotBrt *"" 5 GRAMyBrt *(Brt *):etcetor.setel in range# Call durius con(truct anL range# . i): e:your vars h wit rangepasss range nge# Onlyrmethod:you haveor viefin nkefius (tep method:netcetor.step in range# Call many tim heaAs.condn range# [s.valueeo sesim):= 'heom impels ["axed]]'opts']tadnsla e,fse 0.5, 0. self.offom impmove(tadnsla e,fse )n'tor.INIT(engin in raaeturnpMyBrt *('MyBrt *', engin s range camima776504088550526666626303341652434600 5ustar dblankfacultycamimablob7765040885505266666263033112143700 5ustar dblankfacultycamimablobBlob.cpp0408855052366626000526524675402660520605012466 0ustar dblankfaculty#incluisd Blob.h" Blob::Blob t w p t h p t d) { . i): e(w ph, 3,e0, 1, 2); } void Blob::.appRect(lous t left, lous t rffse, angelous t lop, lous t tom, angelous t r, lous t g, lous t ) { o s t w=left; w<=rffse; w++) { o s t h=lop; h<=tom; h++ ) { raiage[(h * )+ w) + dep )+ rgb[6]] = r; raiage[(h * )+ w) + dep )+ rgb[1]] = g; raiage[(h * )+ w) + dep )+ rgb[2]] = b; } } } void Blob::> 16; g p edcolhe >> 8 & 0x052FF; b p edcolhe & 0x052FF; .appRect(left, rffse, lop, tom, r, g, b); } aeturnpPyInt_FainLo (0L); } camimablobBlob.h64404088550526056641372651542602660520605012466 0ustar dblankfaculty#ifntor.pyBLOB_H__ #iefin npyBLOB_H__ #incluisd Device.h" 5 GRABlob : public Device { public: Blob t w p t h p t d); void 255){ PyErr_SetSlrius(PyExc_To 2Err.b, "F) : InvalidsPPM, mebe 3 bytesdpesepidel"); } ir.(colhe){n raan i): e(w ph, 3,e0, 1, 2); }]eeys{n raan i): e(w ph, 1, 0, 6, 6);n r} upou #MMap(filename);n} PyObject *F) ::upou #MMap(chardfilename[]S { . t w ph, num, maxval,eaetval; geFILE *tusFile; geiusFilet fo en(filename, "rb"); ir.(!iusFile){ PyErr_SetSlrius(PyExc_IOErr.b, "F) : Err.b loadth =file"o;n raaaeturnpNULL; } fscanf(iusFile, "P%d\n%d %d\n%3d\n", &num, &w p& +&maxval); //prie f( P%d\n%d %d\n%d\n", num, w ph, maxval); ir.(n)!= nv t|| )!= .offset|| 'opts'](num)== 5 &&+dep )!= 1)t||'opts'](num)== 6 &&+dep )!= 3)){ PyErr_SetSlrius(PyExc_IOErr.b, "F) : can't chas raiagees_vectr = 0 "o;n raaf]= 'hei imval['opts']]]]]]]ir.gs, *ma ch abel='T31 s'] currname)=elf.capat imn[:= 'hema ch.slar()] + \abel='T31 4ovisve4nge ']= 'hefstrius %.vis_pcurrentd+ \abel='T31 4ovisve4nge ']= 'hepat imn[= 'hema ch.end():]'opts']]]]]]]keys['opts'] s'] currname)=elf.capat imn'opts']]]]]]]ir.gs, *lsrbos in range(seeeeeeeprie ="info: rtadth =file '%s'..." % ( patht+ currname)sPsoooonge ']= 'he_dev.upou #MMap( patht+ currname)sPsoooonge ']= 'heprocessAl selPsoooonge ']= 'hecurrentd+ 1 optsoonge ']= 'he5 GtUpou # currentTimehow', mkeys['opts'] ecurrentd= sis_pslard ir.__name__ = "__main__d['optrain.psom implision.clision pyrobotVisionSystems socamima F) Camima(lisionSystem=VisionSystem(S)s socamima.upou #selcamima= None .py0408855052406332630331121557502660520605012466 0ustar dblankfacultye veA Bs.b.Camima 5 GRA Vis rain.psom implision pyrobotPsom imImage rain.psom impom impdevice pyrobotDevice spyrobotTki imspyrobotPIL.PpmImagePluginspyrobotIiage, IiageTk,es_vessvtime, (tructn'tor.display( m)['optprie = mn'tor.listFil im(allArgs in raaetvalt 'camima.apply("%s",' % allArgs[0]'optir.len(allArgs >]1['opts']o sea laballArgs[1]['opts'] aetvalt+= slm(a))+ ","n raaeturnpaetvalt+ ")"n'tor.T) ArgList( m)['optir.s_ve( m) = s_ve("")['opts']aeturnp( m, ) s']aeturnp( m[0],= m[1:]="" 5 GRA Bufferclass VisPsoA privu # buffer 5 GRAvectadnsmu e= h rCBuffer we getilabou gie oesomethius iuttdlooks liksda.Python.list.lf, e vivector.py. """ cbuf)['opts']= 'heou ) cbuf ivector.pyslm """ )['opts']aeturnp"" % len(= 'heou ) ivector.pyget m """ keyself, *ar f]isinseance(key,es_ves.SliceTo 2)['opts'] f]keypslop > len(= 'hS['opts']]]]]]]slop len(= 'hS'opts']]]]keys['opts'] s']slop keypslop'opts'] aeturnp(tructeunp ("B" * ( lop - keypslar)label='T31 4ovisve4l=opts']= 'heou [keypslar: lop])how', mkeys['opts'] aeturnp(tructeunp ("B",]= 'heou [key])[0]'ivector.sobo(= 'hS['opts']passsivector.pyset m """ key oalueself, *ar f]isinseance(key,es_ves.SliceTo 2)['opts'] f]keypslop > len(= 'hS['opts']]]]]]]slop len(= 'hS'opts']]]]keys['opts'] s']slop keypslop'opts'] aeturnp(tructeunp ("B" * ( lop - keypslar)label='T31 4ovisve4l=opts']= 'heou [keypslar: lop])how', mkeys['opts'] # FIX: can't decthe drain.Pythonulneed C funct anL ranges']= 'heou [key]d= slructep ("B",]oaluessivector.pylen """ )['opts']aeturnplen(= 'heou ) i 5 GRA amima(Psom imImage,tDevice_class VisPsoA bs.b. 5 GR]o seCamimasPsoe vivector.py. """ w +.offse, dep )= 3,et let "Camima View" parentd= ,elisiblet 1self, *ar VisPsooooToespecify= h rresolution ofda.particamima, overloadethe sPsoooocon(truct sew eneeiuttd. ): eefius dimensions= " lf, *ar VisPsooooPsom imImage = None pw +.offse, dep , 0)2PsooooDevice.= None p'camima'S'opts']= 'heapp)= 0lf.win = 'het let t le'opts']= 'hefil imMdis 1'opts']= 'hecallb Listd []2*self.= 'hefil imRessd []2*self.= 'hecallb TextListd []2*self.#especificocamima t wOP,tiefin ngs, *rgb s6, 1, 2)moffsets2*self.#e la vis_pformaet "RGB",eo sesxa2*self.= 'he5 GtWindowUpou # 0'optsto= 'heupou #WindowI imvalt 0.0.#eupou # wOndow enceeaAs.condn range= 'heupou #() # caP,tit encee oen i): e'opts']= 'heiyagee []2*self.= 'heou ) = 'heou 2*self.= 'hegrayscaler []2*self.= 'he.offset gs, *.offses rangelf.ca ) gs, *w lf.win = Topdep )= gs, *dep sPsoooogs, *fil ims eis_pcallb TextList2*self.#eRequired['opts']= 'heelarDevice()sPsoooolaT) fius.b.lisibletby toralf, *ar f]lisiblet la vis_plision['opts'] eT) Window()2ivector.setFil imList( pfil imListself, *ar VisPsooooFil ims t) fius form: ("name",e(args )sPsooooExa: cam.setFil imList([("superColhe",1,-1,-1,0),("meanBlue",3)])r'opts'] VisPsoooomyListd map(T) ArgList pfil imLists'opts']= 'helision.setFil imList(myList)sPsoooolair.paus d,eupou # ius (creensPsooooir.not]= 'hegetActive() abel='T31 eupou #Oncw()2ivector.popFil imList( )['opts']= 'helision.popFil imList()sPsoooolair.paus d,eupou # ius (creensPsooooir.not]= 'hegetActive() abel='T31 eupou #Oncw()2ivector.getFil imList( )['opts']aeturnpgs, *lision.getFil imList()sivector.loadFil ims( self, *ar yrobottkFileDi):og pick2*self.fileName)=etkFileDi):og.asko enfilename()sPsoooofp)= o en(filename, "r")2*self.vis_p> 8)) #W lf.win TOPe.wr ("%c%c" % ( .offse & 0xFF plf.ca.offse >> 8)) #Hoffses rangeTOPe.wr ("%c" % ( dep *8)) #bppsoptstoTOPe.wr ("\x20") #attribut2ssoptstoTOPe.wr (= 'he_cbuf)2*self.TOPe.closa 2ivector.upou #( self, *ar VisPsooooUpou # method:o seget th =next equenceerain.aivideo camima.lf, *ar VisPsoooopasssivector.upou #Oncw( self, *aroldActive = 'hegetActive()'opts']= 'heeetActive(1)'opts']= 'heupou #selopts']= 'heprocessAl selPsoooo= 'heupou #Window()'opts']= 'heeetActive(oldActive)2ivector.T) Fil imMenu"" ou )elf, *armenur []2*self.5 GtCaet "isPsooooo selin nknpou ['opts'] cu #gory plubcu args lin [0],=lin [1],=lin [2:]'opts']]]].alca #goryd! 5 GtCae['opts']]]]]]]menup = end([cu #gory p[[lubcu lambda]= 'h=" args=args:]= 'headdFil im(*args ]]]S'opts']]]]keys['opts'] s']menu[-1][1]p = end( [lubcu lambda]= 'h=" args=args:]= 'headdFil im(*args ] S'opts']]]]5 GtCaet cu #gorylPsooooaeturnpmenu2ivector.setT le"" t le)['opts']= 'het let t le'opts']tre['opts'] lf.canvndow.wm_t le"" et le)how', mkxcep in range(sepasss rator.prie it( peveon in rangeprie ="Pressh :" peveon2ivector.T) Window( self, *artre['opts'] lf.canvndow.stu #selopts']]]]ok 1'opts']kxcep in range(seok 0'optsto.alok['opts'] lf.canvndow.deiconify()how', mkeys['opts'] pyrobotpsom imp ystem.sharhythesharh'opts'] tre['opts'] =ir.not]=harh.gui['opts']]]]]]]]]]gharh.gui Tki im.TkselPsoooonge ']]]]gharh.gui.w .appselPsoooonge ']= 'hewOndow Tki im.Tovel(gharh.gui)'opts']]]]excep ['opts'] =prie ="Psom imocamima annot]T) fnvndow. Check DISPLAY variabPe."lPsoooonge ']= 'hesetVisible(0elPsoooonge ']aeturn'opts'] lf.canvndow.wm_t le"" et le)how', mmmmw ph) gs, *w plf.ca.offsehow', mmmm#wh # w < 310['opts'] # mmw ph) map(lambda]x:ex * 2,e(w ph)+2*self.... canvas Tki im.Canvas(lf.canvndow, ) w, .offset h+2*self.... canvasep ({'TOPl': ' imh', 'exp(la': 'y', 'side': ' imtom'}+2*self.... canvasebvnd("",]= 'heprocessLeftClickDown+2*self.... canvasebvnd("",]= 'heprocessLeftClickUp+2*self.... canvasebvnd("",]= 'heprocessMiddleClick+2*self.... canvasebvnd("",]= 'heprocessRffseClick+2*self.... canvasebvnd("",]lambda]eveon: eupou #Oncw()+2*self.... canvasebvnd("-",]lambda]eveon: epopCallb List(S+2*self.... canvasebvnd("=",]lambda]eveon: elistCallb List(S+2*self.... canvasefocusysets)2*self. gelf.canvndow.winfo_tovel()eprotocol('WM_DELETE_WINDOW',gs, *hideWindow) 'opts'] pr.gs, *lision['opts'] pfil imDu ) = 'helision.getMenu"S'opts']]]]keys['opts'] s']fil imDu ) [] 'opts'] fil imList) [['List)fil ims', elistCallb List]label='T31 4ovisve4l=o['Toggle)fil ims', etoggleFil imMdis]label='T31 4ovisve4l=o ,abel='T31 4ovisve4l=o['Clear)fil ims', [["L Gt",]= 'hepopCallb List]label='T31 4ovisve4l=o'T31 4ovisve4l=o['Al ', e #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisdpts'] =s']/* errnoo*/ #incluisd ioctl_me or.h" #incluisd ioctl_bt848.h"l//edsb i 5 GRABT848: publictDevice { public['opBT848 (ocon(tdchar* dname, t n + t h,e t d); ~BT848(S; PyObject *upou #MMap( S; void setRGB(ie r,e t g,e t bS; privu #:n . t = 0 ; void init(void);n . t fd;n . t icontrol; struct me or_cou ts Camima::Camima(con(tdchar* dname, t n + t h ) { rows .; cols w;n . t nd= slrlen(dname);n devicename)=enewdchar[n+1]; strcpy(devicename, dname);n rf se(ie i 0; id< 2000; i++)2*selChun List[i] = i;n . tensitye newdunsign dechard*[cols];n rf se(ie i 0; id< cols; i++)d{ . tensity[i] = newdunsign dechar[rows]; } f se(ie i 0; id< xcMAXIMAGEHIST; i++)d{ history[i] = newdunsign dechar [h + w + 3]; f se(ie n 0; nd< h + w; n++)d{ history[i][n*3 + 0] = 0; history[i][n*3 + 1] = 0; history[i][n*3 + 2] = 0; } }n} Camima::~Camima()d{ Cleanup();n} void Camima::saveFil (char *filename) { FILE + imageFil ; imageFil =fo en(filename,"w");n rfwr (buf, 1, bufylength,imageFil );n rfcombin n= 0sd mask[x][y] false;n raagetmpmask[x][y] false;l//ealwayssopts}mive} owh # (filter)r{ fprie f(stderr,="Fil im->t %d\n",afilter->To 2);n raaif (filter->T = xcCOLORFILTER)d{ f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ aaif (Red(x,y)d! 0)d{ aa doubPe=my_g_over_r = ((doubPe) Green(x,y)) / aa ((doubPe) Red(x,y));n aa doubPe=my_b_over_r = ((doubPe) Blue(x,y)) / aa ((doubPe) Red(x,y));n aa doubPe=diff_gr fabs(filter->g_over_r -=my_g_over_r);n aa doubPe=diff_br fabs(filter->b_over_r -=my_b_over_r);n aa if (diff_gr delta &&=diff_br delta)d{ aa el//e f]i dkefw labels ,tmark]i : aa eltmpmask[x][y] true;n aa }n aa}n }n raage} }ekeysaif (filter->T = xcMOTIONFILTER)d{ f se(ie x=0;x 25)d{ n aa tmpmask[x][y] true;n aa . tensity[x][y] = (Red(x, y)+Green(x, y)+Blue(x, y)) / 3;n aa}n }n raage} }ekeysaif (filter->T = xcVERTICALLINEFILTER)d{ }ekeysaif (filter->T = xcEDGEFILTER)d{ }ekeysaif (filter->T = xcCONVOLUTION)d{ f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ aaif (x ==]0 || x ==]cols || aa ely ==]0 || y ==]rows)d{ aa tmpmask[x][y] !filter->val;n aa exit(1); }n aa. t matches 0; f se(ie delta_x -1; delta_x < 1;odelta_x++)d{ aa f se(ie delta_y -1; delta_y < 1;odelta_y++)d{ aa ir.((filter->matrix[delta_x + 1][delta_y + 1] = 1 && mask[x + delta_x][y + delta_y])d|| (filter->matrix[delta_x + 1][delta_y + 1] = 0 && !mask[x + delta_x][y + delta_y])d|| (filter->matrix[delta_x + 1][delta_y + 1] = 2))d{ matches++; aa }n aa }n aa}n ir.(matches = 9)d{ aa tmpmask[x][y] filter->val;n aa}ekeysa{ aa tmpmask[x][y] !filter->val;n aa}n }n raage} } f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ if (filter->combin n= 0 || filter->combin n= xcUNION)dn aamask[x][y] tmpmask[x][y];n keysa{l//e imsect anL ir.(mask[x][y] &&=tmpmask[x][y]) aa mask[x][y] true;n }n raage} } fil im filter->pNext; } // blobifylPsie cou t=1;op f se(ie y=0;y]15)2*sopesabPeregions 15; #iefin nMAXREGIONS 15 lPsie Best_regions[MAXREGIONS];lPsie Best_areas[MAXREGIONS];llPsie howmanyblobs=0; . t maxcou t; . t region;n rf se(ie i=0;imaxcou t){ maxcou t=Cou t[j]; region=j;n raage} } ir.(howmanyblobs >]MAXREGIONS) break;n raaif (maxcou t!=0)d{ Best_regions[howmanyblobs]=region;n raageCou t[region]=0; Best_areas[howmanyblobs]=maxcou t; howmanyblobs++; raa} }nn Blob *blob_.oad NULL; Blob *blob_ptr = NULL; f se(ie i=0;i 0)d{ if (blob_ptr == NULL)d{ n blob_ptr = newdBlob(); n blob_.oad blob_ptr;n raage}ekeysa{ blob_ptr->next = newdBlob();n blob_ptr = blob_ptr->next;n raage} blob_ptr->cou t = Best_areas[i] ; blob_ptr->x_avg = (ie )ave_x[Best_regions[i]];n raageblob_ptr->y_avg = (ie )ave_y[Best_regions[i]];n raageblob_ptr->y_min = min_y[Best_regions[i]];n raageblob_ptr->x_min = min_x[Best_regions[i]];n raageblob_ptr->y_max = max_y[Best_regions[i]];n raageblob_ptr->x_max = max_x[Best_regions[i]];n raage//crosshair(blob_ptr->x_avg,blob_ptr->y_avg); raage//u= erleftcorner(blob_ptr->x_min,blob_ptr->y_min); raage//u= errffsecorner(blob_ptr->x_max,blob_ptr->y_min); raage//lowerleftcorner(blob_ptr->x_max,blob_ptr->y_min); raage//lowerrffsecorner(blob_ptr->x_max,blob_ptr->y_max); } }n saveFil ("applyfilter.ppm");llPsie totalt 0;lPsie total_xt 0;lPsie total_y 0; f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ if (mask[x][y])d{ total++; total_xt+= x; total_y += y; raage} } }n Blob *blob = NULL; .f (total)d{ blob = newdBlob(); n blob->cou t = total;n blob->x_avg = total_xt/ total;n blob->y_avg = total_yt/ total;n }n aeturnpblob;n} */ void Camima::Sobo(ie little, t bigS { .f (Chun List[little] = bigS { el//e=lop'op}ekeysaif (Chun List[little] = 0)d{ Chun List[little] = big; el//e=lop'op}ekeysaif (Chun List[little] < bigS { elSobo(Chun List[little], bigS;'op}ekeysaif (Chun List[little] > bigS { elSobo(little, Chun List[little]);n r}n} void Camima::Convolve(shobotinteim[3][3], booltval)d{ f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ if (x ==]0 || x ==]cols || aay ==]0 || y ==]rows)d{ tmpmask[x][y] !val;n exit(1); aage} . t matches 0; f se(ie delta_x -1; delta_x < 1;odelta_x++)d{ f se(ie delta_y -1; delta_y < 1;odelta_y++)d{ aair.((im[delta_x + 1][delta_y + 1] = 1 && mask[x + delta_x][y + delta_y])d|| (im[delta_x + 1][delta_y + 1] = 0 && !mask[x + delta_x][y + delta_y])d|| (im[delta_x + 1][delta_y + 1] = 2))d{ matches++; aa}n }n raage} ir.(matches = 9)d{ tmpmask[x][y] val;n ge}ekeysa{ tmpmask[x][y] !val;n raage} } }n f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ mask[x][y] tmpmask[x][y];n } }n} void Camima::Convolve(shobotinteim1[3][3], ]]ghobotinteim2[3][3], ]]booltval)d{ f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ if (x ==]0 || x ==]cols || aay ==]0 || y ==]rows)d{ tmpmask[x][y] !val;n exit(1); aage} . t matches 0; f se(ie delta_x -1; delta_x < 1;odelta_x++)d{ f se(ie delta_y -1; delta_y < 1;odelta_y++)d{ aair.((im1[delta_x + 1][delta_y + 1] = 1 && mask[x + delta_x][y + delta_y])d|| (im1[delta_x + 1][delta_y + 1] = 0 && !mask[x + delta_x][y + delta_y])d|| (im1[delta_x + 1][delta_y + 1] = 2))d{ matches++; aa}n }n raage} ir.(matches = 9)d{ tmpmask[x][y] val;n ge}ekeysa{ matches 0; f se(ie delta_x -1; delta_x < 1;odelta_x++)d{ aaf se(ie delta_y -1; delta_y < 1;odelta_y++)d{ aa ir.((im2[delta_x + 1][delta_y + 1] = 1 && mask[x + delta_x][y + delta_y])d|| (im2[delta_x + 1][delta_y + 1] = 0 && !mask[x + delta_x][y + delta_y])d|| (im2[delta_x + 1][delta_y + 1] = 2))d{ matches++; aa }n aa}n }n ir.(matches = 9)d aatmpmask[x][y] val;n eeysa aatmpmask[x][y] !val;n raage} } }n f se(ie x 0; xd< cols; x++)d{ f se(ie y 0; yd< rows; y++)d{ mask[x][y] tmpmask[x][y];n } }n} ie Camima::pos(ie x, t y)d{ aeturnp(y + cols))* bpp + (x + bpp);n} void Camima::setPixel(ie x, t y, t r,e t g,e t bS { rawbuf[pos(x,y)d+ 0] = r; rawbuf[pos(x,y)d+ 1] = g; rawbuf[pos(x,y)d+ 2] = b;n} ie Camima::Red(ie x, t y)d{l//e0 255 aeturnprawbuf[pos(x,y)d+ 0];l//erh =e0, grn = 1, blur 2n} ie Camima::Green(ie x, t y)d{l//e0 255 aeturnprawbuf[pos(x,y)d+ 1];l//erh =e0, grn = 1, blur 2n} ie Camima::Blue(ie x, t y)d{l//e0 255 aeturnprawbuf[pos(x,y)d+ 2];l//erh =e0, grn = 1, blur 2n} void Camima::crosshair(ie x, t y){ setPixel(x,y,0,255,0o;n rsetPixel(x+1,y,0,255,0o;n rsetPixel(x+2,y,0,255,0o;n rsetPixel(x-1,y,0,255,0o;n rsetPixel(x-2,y,0,255,0o;n rsetPixel(x,y+1,0,255,0o;n rsetPixel(x,y+2,0,255,0o;n rsetPixel(x,y-1,0,255,0o;n rsetPixel(x,y-2,0,255,0o;n} void Camima::u= erleftcorner(ie x, t y){ setPixel(x,y,0,255,0o;n rsetPixel(x+1,y,0,255,0o;n rsetPixel(x+2,y,0,255,0o;n rsetPixel(x,y+1,0,255,0o;n rsetPixel(x,y+2,0,255,0o;n} void Camima::u= errffsecorner(ie x, t y){ setPixel(x,y,0,255,0o;n rsetPixel(x-1,y,0,255,0o;n rsetPixel(x-2,y,0,255,0o;n rsetPixel(x,y+1,0,255,0o;n rsetPixel(x,y+2,0,255,0o;n} void Camima::lowerleftcorner(ie x, t y){ setPixel(x,y,0,255,0o;n rsetPixel(x-1,y,0,255,0o;n rsetPixel(x-2,y,0,255,0o;n rsetPixel(x,y+1,0,255,0o;n rsetPixel(x,y+2,0,255,0o;n} void Camima::lowerrffsecorner(ie x, t y){ setPixel(x,y,0,255,0o;n rsetPixel(x-1,y,0,255,0o;n rsetPixel(x-2,y,0,255,0o;n rsetPixel(x,y-1,0,255,0o;n rsetPixel(x,y-2,0,255,0o;n} camimabt848Camima h04088550525533074613231601571102660520605012466 0ustar dblankfaculty/* XRCL: Tus ExtensibletRm imoControltLas uage (c) 2000, Doug5 G S. B University ofdArkansas,tRm imicists]Research Group http://ai.uark.edu/xrcl/ The dprogram e draee softwar ; you can rtdistribut2tit and/tr modify it under sus terms)ofd h rGNU Genimal PublictLicenshythepublished by h rFree Softwar Foundat an; ei h r lsrsion 2)ofd h rLicensh, he (aetyour o t an) any la er lsrsion. The dprogram e ddistribut2d labius ho eeiuttd.tdwOP,tbm ushful, but WITHOUT ANY WARRANTY;ew out eveo h raiplih warranty of MERCHANTABILITYctr FITNESS FOR A PARTICULAR PURPOSE. Seed h rGNU Genimal PublictLicenshyftr mors deta s. You shouldehaveoreceivedoaocopy ofd h rGNU Genimal PublictLicensh aloh =w the dprogram;.ir.not, wr iofius Free Softwar Foundat an, Inc., 59 TedPlaced- Su 336, Boelon, MA 02111-1307,.USA. As aespecial excep an, you haveopermission veclink the dprogram w the Qtclibadryp(la distribut2texecutabPes, as=loh =as=you f llow h rrequireme ts ofd h rGNU GPL labeegard vecaP,tofd h softwar labius executabPe=asiis fain.Qt. */ #ifntor.pyCAMERA_H #iefin npyCAMERA_H //#incluisd Blob.h" //#incluisd Fil im.h" #incluisd Con(tants.h" #incluisd #incluisd 5 GRACamima { public[ unsign dechard*buf;opts//e mage ou (rgb PPM formae, w .oader) unsign dechard*rawbuf;s//e mage ou (rgb PPM formae, no .oader) unsign dechard*area; unsign dechard*history[xcMAXIMAGEHIST]; unsign dechard**. tensity; ie Chun List[2000]; ie rows, n cols, n = 0 ; Camima (ocon(tdchar* dname, t n + t h ); virtual ~Camima(); virtual void Cleanup() {}; //eCamima iefin sbiusse[ void Upou #(); unsign dechard* Image (); unsign dechard* RawImage (); void saveFil (char *filename); ie wv sed{ aeturnpcols;} ie hoffsesed{ aeturnprows;} void swap_rgb24(char *m m, ie n); ie Camima::pos(ie x, t y); void Camima::setPixel(ie x, t y, t r,e t g,e t bS; ie Camima::Red(ie x, t y); ie Camima::Green(ie x, t y); ie Camima::Blue(ie x, t y); //Blob *ApplyFil im(Fil im *filter, booltmark_it =e0); void ApplyMask(); void Convolve(shobotinteim[3][3], booltval); void Convolve(shobotinteim1[3][3],]ghobotinteim2[3][3], booltval); void Sobo(ie little, t bigS; void Camima::crosshair(ie x, t y); void Camima::u= erleftcorner(ie x, t y); void Camima::u= errffsecorner(ie x, t y); void Camima::lowerleftcorner(ie x, t y); void Camima::lowerrffsecorner(ie x, t y); protect2d[ char *devicename; ie fp; unsign dechard*ptr; virtual void GetDu (void)d{}; virtual void init(void)d{}; ie bufylength; public[ ghobotintemask[ICOLS][IROWS]; ghobotintetmpmask[ICOLS][IROWS]; ie bpp; }; #kndifl//epyCAMERA_H camimabt848Con(tants.h04088550525171074606341341650002660520605012466 0ustar dblankfaculty/* XRCL: Tus ExtensibletRm imoControltLas uage (c) 2000, Doug5 G S. B University ofdArkansas,tRm imicists]Research Group http://ai.uark.edu/xrcl/ The dprogram e draee softwar ; you can rtdistribut2tit and/tr modify it under sus terms)ofd h rGNU Genimal PublictLicenshythepublished by h rFree Softwar Foundat an; ei h r lsrsion 2)ofd h rLicensh, he (aetyour o t an) any la er lsrsion. The dprogram e ddistribut2d labius ho eeiuttd.tdwOP,tbm ushful, but WITHOUT ANY WARRANTY;ew out eveo h raiplih warranty of MERCHANTABILITYctr FITNESS FOR A PARTICULAR PURPOSE. Seed h rGNU Genimal PublictLicenshyftr mors deta s. You shouldehaveoreceivedoaocopy ofd h rGNU Genimal PublictLicensh aloh =w the dprogram;.ir.not, wr iofius Free Softwar Foundat an, Inc., 59 TedPlaced- Su 336, Boelon, MA 02111-1307,.USA. As aespecial excep an, you haveopermission veclink the dprogram w the Qtclibadryp(la distribut2texecutabPes, as=loh =as=you f llow h rrequireme ts ofd h rGNU GPL labeegard vecaP,tofd h softwar labius executabPe=asiis fain.Qt. */ #ifntor.pyCONSTANTS_H__ #iefin npyCONSTANTS_H__ etu ictcon(tdie PATHNAME = 255; etu ictcon(tdie ZERO 0; etu ictcon(tdie ONE 1; etu ictcon(tdie NEGONE -1; etu ictcon(tdfloat PI (float)3.141592653; etu ictcon(tdfloat FZERO (float)0.0; // Behavitr Stu us Stu es etu ictcon(tdie xcDNE -1; etu ictcon(tdie xcDORMANT 0; etu ictcon(tdie xcACTIVE = 1; etu ictcon(tdie xcGOINGDORMANT = 2; etu ictcon(tdie xcGOINGACTIVE = 3; etu ictcon(tddoubPe= xcREVERSE = -0.50; etu ictcon(tddoubPe= xcSTOP 0.0; etu ictcon(tddoubPe= xcSLOW 0.2; etu ictcon(tddoubPe= xcMEDIUM 0.5; etu ictcon(tddoubPe= xcFORWARD 0.75; etu ictcon(tddoubPe= xcFAST 1.0; etu ictcon(tddoubPe= xcLEFT 0.50; etu ictcon(tddoubPe= xcRIGHT -0.50; etu ictcon(tddoubPe= xcSTRAIGHT 0.0; //Networktcon(tants #iefin nMAX_HOSTS 15 #iefin nMAX_PORTS 10 on(tdie xcUNION 0; on(tdie xcINTERSECTION 1; on(tdie xcMIN=0; on(tdie xcMAX=1; #iefin nxcPOINT 0 #iefin nxcWALL 1 #iefin nxcHALLWAY 2 #iefin nxcROOM 3 #iefin nxcDOOR 4 #iefin nxcGLOBAL 0 #iefin nxcLOCAL 1 #iefin nxcCOLORFILTER 0 #iefin nxcMOTIONFILTER 1 #iefin nxcVERTICALLINEFILTER 2 #iefin nxcEDGEFILTER 3 #iefin nxcCONVOLUTION 4 #iefin nIROWS 80 #iefin nICOLS 100 #iefin nxcMAXIMAGEHIST 10 #ifntor.NULL #iefin nNULL 0 #kndif #kndif camimabt848Makefile040885505214441376252631602660520605012466 0ustar dblankfacultyOBJS _bt848.so iecluisd../../Makefile.cfg iecluisd../../Makefile.src INCLUDE -I../device/ CPPFLAGS -WaP,t-Wno-unushd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -raepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) LIBDIRS= LIBS= -lstdc++ -ld,t-lpthrtad _bt848.so: bt848.opBT848.o $(CC) $(CPPFLAGS) -sharh bt848.opBT848.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS) BT848.o:: BT848.cpp ../device/Device.o $(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -c BT848.cpp BT848.cc: BT848.i BT848.h ../device/Device.o swig -py on $(INCLUDE) -c++ -o $@ BT848.i bt848.o: BT848.cc ../device/Device.o $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) BT848.cc -o $@ i 5ean:: $(RM) *~ BT848.cc bt848.py bt848.cc bt848grab *.so *.o camimabt848bt848grab cpp04088550522216077415706721657102660520605012466 0ustar dblankfaculty#incluisd #incluisd BT848.h" #iefin nTRUE 1 #iefin nFALSE 0 ie str_to_ie (char *input, t *get);llmain(ie gc,echard*argv[]S { . t ncols, nrows; char filename[255], device[255];lPsif (agc < 2sd{ prie f("CaP,tw device filename\n"); geexit(1); } strcpy(device, argv[1]); strcpy(filename, argv[2]); ir(agc==5sd{ str_to_ie (argv[3], &ncols); gestr_to_ie (argv[4], &nrows);'op}ekeysa{ ncols ICOLS; genrows IROWS; } prie f("%d, %d\n",ancols, nrows);'opBT848 *cam newdBT848( device, ncols, nrows S; cam->Upou #(); cam->Upou #(); cam->Upou #(); cam->saveFil (filename);n} ie str_to_ie (char *input, t *get) { . t digit, totalt 0, = gn, length,tvali =eTRUE, , j;llPslength = slrlen(input); ir( *input = '-' sd{ s gn -1; length - 1; input++; r}ekeysa{ s gn 1; } for( i length - 1;oi > 0; i-- sd{ ir( !isdigit(*(input + ie) ) {tvali =eFALSE; break;e} digit = (ie ) (*(input + ie - '0'); f s( j = id+ 1; j < length; j++ ) digit * 10; totalt+= digit; } ir( vali sd{ *get = (s gn*total); aeturnp0; r}ekeysaaeturnp-1; } camimabt848ioctl_bt848.h040885505215651074606341341657302660520605012466 0ustar dblankfaculty/* XRCL: Tus ExtensibletRm imoControltLas uage (c) 2000, Doug5 G S. B University ofdArkansas,tRm imicists]Research Group http://ai.uark.edu/xrcl/ oThe dprogram e draee softwar ; you can rtdistribut2tit and/tr modifylPsit under sus terms)ofd h rGNU Genimal PublictLicenshythepublished bylPs h rFree Softwar Foundat an; ei h r lsrsion 2)ofd h rLicensh, hehow(aetyour o t an) any la er lsrsion.wlf,The dprogram e ddistribut2d labius ho eeiuttd.tdwOP,tbm ushful, butlf,WITHOUT ANY WARRANTY;ew out eveo h raiplih warranty oflf,MERCHANTABILITYctr FITNESS FOR A PARTICULAR PURPOSE. Seed h rGNUlf,Genimal PublictLicenshyftr mors deta s.wlf,You shouldehaveoreceivedoaocopy ofd h rGNU Genimal PublictLicenshlf,aloh =w the dprogram;.ir.not, wr iofius Free Softwar Foundat an, Inc., 59 TedPlaced- Su 336, Boelon, MA 02111-1307,.USA.wlf,As aespecial excep an, you haveopermission veclink the dprogramlf,w the Qtclibadryp(la distribut2texecutabPes, as=loh =as=you f llow h rrequireme ts ofd h rGNU GPL labeegard vecaP,tofd h softwar labius executabPe=asiis fain.Qt. */ #ifntor.pyIOCTLyBT848_H__ #iefin npyIOCTLyBT848_H__ /* * extensions vecioctl_me or.hdo setto bt848 cards'o*/ /* * frequencyrsets'o*/ #iefin nCHNLSET_NABCST 1 #iefin nCHNLSET_CABLEIRC 2 #iefin nCHNLSET_CABLEHRC 3 #iefin nCHNLSET_WEUROPE 4 #iefin nCHNLSET_JPNBCST 5 #iefin nCHNLSET_MIN CHNLSET_NABCST #iefin nCHNLSET_MAX CHNLSET_JPNBCST /* * con(tantsdo sevariousetunim regis ims'o*/ #iefin nBT848_HUEMIN (-90) #iefin nBT848_HUEMAX 90 #iefin nBT848_HUECENTER 0 #iefin nBT848_HUERANGE 179.3 #iefin nBT848_HUEREGMIN (-128) #iefin nBT848_HUEREGMAX 127 #iefin nBT848_HUESTEPS 256 #iefin nBT848_BRIGHTMIN (-50) #iefin nBT848_BRIGHTMAX 50 #iefin nBT848_BRIGHTCENTER 0 #iefin nBT848_BRIGHTRANGE 99.6 #iefin nBT848_BRIGHTREGMIN (-128) #iefin nBT848_BRIGHTREGMAX 127 #iefin nBT848_BRIGHTSTEPS 256 #iefin nBT848_CONTRASTMIN 0 #iefin nBT848_CONTRASTMAX 237 #iefin nBT848_CONTRASTCENTER #iefin nBT848_CONTRASTRANGE 236.57 #iefin nBT848_CONTRASTREGMIN #iefin nBT848_CONTRASTREGMAX 511 #iefin nBT848_CONTRASTSTEPS 512 #iefin nBT848_CHROMAMIN #iefin nBT848_CHROMAMAX 284 #iefin nBT848_CHROMACENTER #iefin nBT848_CHROMARANGE 283.89 #iefin nBT848_CHROMAREGMIN #iefin nBT848_CHROMAREGMAX 511 #iefin nBT848_CHROMASTEPS 512 #iefin nBT848_SATUMIN #iefin nBT848_SATUMAX 202 #iefin nBT848_SATUCENTER #iefin nBT848_SATURANGE 201.18 #iefin nBT848_SATUREGMIN #iefin nBT848_SATUREGMAX 511 #iefin nBT848_SATUSTEPS 512 #iefin nBT848_SATVMIN #iefin nBT848_SATVMAX 284 #iefin nBT848_SATVCENTER #iefin nBT848_SATVRANGE 283.89 #iefin nBT848_SATVREGMIN #iefin nBT848_SATVREGMAX 511 #iefin nBT848_SATVSTEPS 512 /* * audio sluff'o*/ #iefin nAUDIO_TUNER 0x00 /* comm(lddo setto audio routin n*/ #iefin nAUDIO_EXTERN 0x01 /* don't confushettom,w bitn*/ #iefin nAUDIO_INTERN 0x02 /* =ettingsn*/ #iefin nAUDIO_MUTE 0x80 #iefin nAUDIO_UNMUTE 0x81 /* * EEPain.sluff'o*/ struct eePain.{ ghobo offset; ghobo cou t; u_char bytes[ 256 ];n}; /* * XXX:cthe dis aehack, shouldeb labioctl_me or.h * h r iofavoid touchth =iuttdfiledo senow...'o*/ #iefin TVTUNER_SETCHNL yIOW('x', 32, unsign deie ) /* =etachannelo*/ #iefin TVTUNER_GETCHNL yIOR('x', 32, unsign deie ) /* getachannelo*/ #iefin TVTUNER_SETTYPE yIOW('x', 33, unsign deie ) /* =etatunim t */ #iefin TVTUNER_GETTYPE yIOR('x', 33, unsign deie ) /* getatunim t */ #iefin TVTUNER_GETSTATUS yIOR('x', 34, unsign deie ) /* getatunim stu us */ #iefin TVTUNER_SETFREQ yIOW('x', 35, unsign deie ) /* =etafrequencyr*/ #iefin TVTUNER_GETFREQ yIOR('x', 36, unsign deie ) /* getafrequencyr*/ #iefin nBT848_SHUE yIOW('x', 37,eie ) /* =etahueo*/ #iefin nBT848_GHUE yIOR('x', 37,eie ) /* getahueo*/ #iefin BT848_SBRIG yIOW('x', 38,eie ) /* =etabrffsenesso*/ #iefin nBT848_GBRIG yIOR('x', 38,eie ) /* getabrffsenesso*/ #iefin BT848_SCSAT yIOW('x', 39,eie ) /* =etachainaesato*/ #iefin nBT848_GCSAT yIOR('x', 39,eie ) /* getaUVesaturat ane*/ #iefin BT848_SCONT yIOW('x', 40,eie ) /* =etacontraste*/ #iefin BT848_GCONT yIOR('x', 40,eie ) /* getacontraste*/ #iefin BT848_SVSAT yIOW('x', 41,eie ) /* =etachainaeVesato*/ #iefin nBT848_GVSAT yIOR('x', 41,eie ) /* getaVesaturat ane*/ #iefin BT848_SUSAT yIOW('x', 42,eie ) /* =etachainaeUesato*/ #iefin nBT848_GUSAT yIOR('x', 42,eie ) /* getaUesaturat ane*/ #iefin BT848_SCBARS yIOR('x', 43,eie ) /* =etacolorbare*/ #iefin BT848_CCBARS yIOR('x', 44,eie ) /* 5earacolorbare*/ #iefin BT848_SAUDIO yIOW('x', 46,eie ) /* =etaaudio channelo*/ #iefin nBT848_GAUDIO yIOR('x', 47,eie ) /* getaaudio channelo*/ #iefin BT848_SBTSC yIOW('x', 48,eie ) /* =etaaudio channelo*/ #iefin BT848_GSTATUS yIOR('x', 49, unsign deie ) /* reap stu us */ #iefin BT848_WEEPROM yIOWR('x', 50, =truct eePain) /* wr iofEEPain.*/ #iefin BT848_REEPROM yIOWR('x', 51, =truct eePain) /* rtad fain.EEPain.*/ #iefin BT848_SIGNATURE yIOWR('x', 52, =truct eePain) /* rtad card s g.*/ #iefin TVTUNER_SETAFC yIOW('x', 53,eie ) /* turnpAFC on/offo*/ #iefin nTVTUNER_GETAFC yIOR('x', 54,eie ) /* querypAFC on/offo*/ #iefin nBT848_SLNOTCH yIOW('x', 55,eie ) /* =etalunaenotcho*/ #iefin nBT848_GLNOTCH yIOR('x', 56,eie ) /* getalunaenotcho*/ /* * XXX:cmors bad magic, * we need vecfixetto METEORGINPUT vecaeturnpsome hth =public * duplicathettom,h r o senow...'o*/ #iefin METEOR_DEV0 0x0000 #iefin METEOR_DEV1 0x00020 #iefin METEOR_DEV2 0x00040 /* * rffseenow I don't know w r iofput iusse, but=as=iusy ar suppos iofbe * a parttofda commanevideo capturee imface, iusse shouldeb relocathd ve * anoth r place. Paibablycmost ofd h rMETEOR_xxx iefin sbneed vecbe * renamedp(la moved veca commane.oader'o*/ t tor.enun.{rMETEOR_PIXTYPE_RGB,rMETEOR_PIXTYPE_YUV, METEOR_PIXTYPE_YUV_PACKED r}eMETEOR_PIXTYPE; struct me or_pixfmt.{ u_ie index;opts'] ]/* Index labsupporthd pixfmt.lis */ METEOR_PIXTYPE t ;opts'] ]]/* Wutt'setto board gonna feed us */ u_ie Bpp;opts'] ]]]/* Bytesoper pixeloooooooooooooooooooo*/ u_loh =========masks[3];] ]]]/* R,G,Bctr Y,U,V=masks, respectivelyo*/ unsign deeeeeeeswap_bytes :1;]/* Bytesoeswapph w labghobosooooooo*/ unsign deeeeeeeswap_ghobos:1;]/* Shobososwapph w labloh soooooooo*/ }; struct bktr_clipd{ . toooooooooox_min; . toooooooooox_max; . tooooooooooy_min; . tooooooooooy_max; }; #iefin nBT848_MAX_CLIP_NODE 100 struct _bktr_clipd{ struct bktr_clipdx[BT848_MAX_CLIP_NODE];n}; /* * I'm usth =METEOR_xxx jus becaushettatdwOP,tbm commanevecoth r imface * and lessoofda surprishlf*/ #iefin nMETEORSACTPIXFMT yIOW('x', 64,eie ) #iefin nMETEORGACTPIXFMT yIOR('x', 64,eie ) #iefin nMETEORGSUPPIXFMT yIOWR('x', 65, struct me or_pixfmt) /* =etaclipdlis */ #iefin nBT848SCLIPoooooyIOW('x', 66, struct _bktr_clipd) #iefin nBT848GCLIPoooooyIOR('x', 66, struct _bktr_clipd) #iefin nBT848_INITPXC2ooyIOW('x', 67,eie ) #kndifl/*npyIOCTLyBT848_H__ */ camimabt848ioctl_me or.h040885505225045074606341341721302660520605012466 0ustar dblankfaculty/* XRCL: Tus ExtensibletRm imoControltLas uage (c) 2000, Doug5 G S. B University ofdArkansas,tRm imicists]Research Group http://ai.uark.edu/xrcl/ oThe dprogram e draee softwar ; you can rtdistribut2tit and/tr modifylPsit under sus terms)ofd h rGNU Genimal PublictLicenshythepublished bylPs h rFree Softwar Foundat an; ei h r lsrsion 2)ofd h rLicensh, hehow(aetyour o t an) any la er lsrsion.wlf,The dprogram e ddistribut2d labius ho eeiuttd.tdwOP,tbm ushful, butlf,WITHOUT ANY WARRANTY;ew out eveo h raiplih warranty oflf,MERCHANTABILITYctr FITNESS FOR A PARTICULAR PURPOSE. Seed h rGNUlf,Genimal PublictLicenshyftr mors deta s.wlf,You shouldehaveoreceivedoaocopy ofd h rGNU Genimal PublictLicenshlf,aloh =w the dprogram;.ir.not, wr iofius Free Softwar Foundat an, Inc., 59 TedPlaced- Su 336, Boelon, MA 02111-1307,.USA.wlf,As aespecial excep an, you haveopermission veclink the dprogramlf,w the Qtclibadryp(la distribut2texecutabPes, as=loh =as=you f llow h rrequireme ts ofd h rGNU GPL labeegard vecaP,tofd h softwar labius executabPe=asiis fain.Qt. */ /* * Copyrffsee(c) 1995 Mark]Tth uelyo(la Jim Lowe * AP,trffses reserved.'o* * Rtdistribution (la ushelabgourced(la bindrypforms, w tr w out * modificat an, ar permitthd providedeiuttdius f llowth =condit ans * ar me : * 1. Rtdistributions ofdgourcedcois mus reta abius aboveocopyrffse * nimice, iue dlis ofdcondit ansd(la ius f llowth =disclaimim.'o* 2. Rtdistributions abbindrypform mus reproducebius aboveocopyrffse * nimice, iue dlis ofdcondit ansd(la ius f llowth =disclaimim labius * docume tation (la/tr oth r ma erials providedew the distribution.'o* 3. AP,tadlsrtisth =ma erials me tionth =featuresotr usheofd he dsoftwar * mus display ius f llowth =acknowledgeme t: * The dproduct incluis dsoftwar developed by Mark]Tth uelyo(la Jim Lowe * 4. Tus name)ofd h rau or may nimtbm ushd veckndorsheordpromot2tproducts * derivedofain. he dsoftwar ew out specific pritr writthnopermission.'o* * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF,MERCHANTABILITYcAND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF,SUBSTITUTE GOODS OR * SERVICES; LOSS OF,USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSEDcAND ON ANY THEORY OF,LIABILITY, WHETHER IN CONTRACT, * STRICT,LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF,THE USE OF,THIS SOFTWARE, EVEN IF ADVISEDcOF,THE * POSSIBILITYcOF,SUCH DAMAGE.'o*/ /* * Modifiedo7/22/98yftr compatibility w glibc bashd Linux systems.'o* Mark]Sutlon 'o*/ /* * ioctl con(tantsdo seMatrox Me or Captureecard.'o*/ #ifntor.pMACHINEyIOCTLyMETEOR_H #iefin npMACHINEyIOCTLyMETEOR_H #iefin nMAX_NUM_FRAMES M_FRRY Ohouldeb h rsame)as me or.hd*/ #incluisd struct me or_capframe){ ghobo comm(ld; /* =eeeb low o sevali METEORCAPFRM comm(lds */ ghobo lowat; /* =tartttransfim lf <. he dnumber */ ghobo hiwat; /* =topttransfim lf >. he dnumber */ } ; /* =tructur o seMETEOR[GS]ETGEOd- get/=etageome rypo*/ struct me or_geome .{ u_ghobo rows; u_ghobo columns; u_ghobo frames; u_loh oformae; } ; /* =tructur o seMETEORGCOUNT-getacou t ofdframes,afifeckrr.bsd(la dmackrr.bsd*/ struct me or_cou ts.{ u_loh =fife_krr.bs; /* cou t ofdfifeckrr.bsdsthcebopeno*/ u_loh =dma_krr.bs; /* cou t ofddmackrr.bsdsthcebopeno*/ u_loh =frames_captured; /* cou t ofdframes captureddsthcebopeno*/ u_loh =eveo_fields_captured; /* cou t ofdeveo fields capturedd*/ u_loh =odd_fields_captured; /* cou t ofdodd fields capturedd*/ } ; /* =tructur vecgetatus frame)offsets abmemoryd*/ struct me or_frame_offsetd{ u_loh =frame_offset[MAX_NUM_FRAMES];lPsu_loh =fb_= 0 ;lPsu_loh =mem_off; } ; /* =tructur o segettingd(la =etting directttransfims vecvram */ struct me or_video { u_loh addr; /* Addressoofdlocation vecdmacvec*/ u_loh wv ; /* Wv oofdmemorydareac*/ u_loh bank= 0 ; /* S 0 oofdVram bankc*/ u_loh ram= 0 ; /* S 0 oofdVram */ }; #iefin nMETEORCAPTURoyIOW('x', 1,eie ) /* captureea frame)*/ #iefin nMETEORCAPFRM yIOW('x', 2, struct me or_capframe)]]/* sync capturee*/ #iefin nMETEORSETGEOdyIOW('x', 3, struct me or_geome )]]/* setageome ryp*/ #iefin nMETEORGETGEOdyIOR('x', 4, struct me or_geome )]]/* getageome ryp*/ #iefin nMETEORSTATUS yIOR('x', 5, unsign deghobo) /* getastu us */ #iefin nMETEORSHUE yIOW('x', 6, = gn dechar) /* =etahueo*/ #iefin nMETEORGHUE yIOR('x', 6, = gn dechar) /* getahueo*/ #iefin nMETEORSFMT yIOW('x', 7, unsign deloh ) /* =etaformaeo*/ #iefin nMETEORGFMT yIOR('x', 7, unsign deloh ) /* getaformaeo*/ #iefin nMETEORSINPUT yIOW('x', 8, unsign deloh ) /* =etainput devo*/ #iefin nMETEORGINPUT yIOR('x', 8, unsign deloh ) /* getainput devo*/ #iefin METEORSCHCV yIOW('x', 9, unsign dechar) /* =etauv ga ab*/ #iefin METEORGCHCV yIOR('x', 9, unsign dechar) /* getauv ga ab*/ #iefin METEORSCOUNT yIOW('x',10, struct me or_cou ts) #iefin METEORGCOUNT yIOR('x',10, struct me or_cou ts) #iefin nMETEORSFPS yIOW('x',11, unsign deghobo) /* =etafps */ #iefin nMETEORGFPS yIOR('x',11, unsign deghobo) /* getafps */ #iefin nMETEORSSIGNALoyIOW('x', 12, unsign deie ) /* =etasignal */ #iefin nMETEORGSIGNALoyIOR('x', 12, unsign deie ) /* getasignal */ #iefin METEORSVIDEOdyIOW('x', 13, struct me or_video) /* =etavideo */ #iefin METEORGVIDEOdyIOR('x', 13, struct me or_video) /* getavideo */ #iefin METEORSBRIG yIOW('x', 14, unsign dechar) /* =etabrffsenesso*/ #iefin nMETEORGBRIG yIOR('x', 14, unsign dechar) /* getabrffsenesso*/ #iefin METEORSCSAT yIOW('x', 15, unsign dechar) /* =etachainaesato*/ #iefin nMETEORGCSAT yIOR('x', 15, unsign dechar) /* getauv saturat ane*/ #iefin METEORSCONT yIOW('x', 16, unsign dechar) /* =etacontraste*/ #iefin METEORGCONT yIOR('x', 16, unsign dechar) /* getacontraste*/ #iefin nMETEORSBT254 yIOW('x', 17, unsign deghobo) /* =etaBt254 rego*/ #iefin nMETEORGBT254 yIOR('x', 17, unsign deghobo) /* getaBt254 rego*/ #iefin nMETEORSHWS yIOW('x', 18, unsign dechar) /* =eta or =tarttrego*/ #iefin nMETEORGHWS yIOR('x', 18, unsign dechar) /* geta or =tarttrego*/ #iefin nMETEORSVWS yIOW('x', 19, unsign dechar) /* =etalsrt =tarttrego*/ #iefin nMETEORGVWS yIOR('x', 19, unsign dechar) /* getalsrt =tarttrego*/ #iefin METEORSTSooooyIOW('x', 20, unsign deloh ) /* =etatime)=tampe*/ #iefin METEORGTSooooyIOR('x', 20, unsign deloh ) /* getatime)=tampe*/ #iefin METEORGFROFFoyIOR('x', 21, struct me or_frame_offsetd)]/* getaframe)offsets */ #iefin METEORGCAPTooyIOR('x', 22, unsign deloh )'] ]]]/* getasaa7116 capt_ctl (0x40) regis im.*/ #iefin METEOR_STATUS_IDpMASK 0xf000 /* IDoofd7196o*/ #iefin METEOR_STATUS_DIR 0x0800 /* Direct aneofdExpansion port YUVo*/ #iefin METEOR_STATUS_OEF 0x0200 /* Field detect2d[ Eveo/Oddo*/ #iefin METEOR_STATUS_SVP 0x0100 /* Stu eoofdVRAM Port:inactive/activeo*/ #iefin METEOR_STATUS_STTC 0x0080 /* Time)Con(tant: TV/VCRo*/ #iefin METEOR_STATUS_HCLK 0x0040 /* Horiz PLL:dlocked/unlockedo*/ #iefin METEOR_STATUS_FIDT 0x0020 /* Field detect: 50/60hzo*/ #iefin METEOR_STATUS_ALTD 0x0002 /* Lin nalt: neclin nalt/lin nalto*/ #iefin nMETEOR_STATUS_CODE 0x0001 /* Colour info: neccolour/colour.*/ /* METEORCAPTURocaptureeo t anso*/ #iefin nMETEOR_CAP_SINGLE 0x0001 /* captureeone frame)*/ #iefin nMETEOR_CAP_CONTINOUS 0x0002 /* continuously capturee*/ #iefin nMETEOR_CAP_STOP_CONT 0x0004 /* =toptthe continuous capturee*/ #iefin nMETEOR_CAP_CONT_ONCE 0x0008 /* captureeaP,taP,ocathd frames ohce*/ /* METEORCAPFRM captureecomm(lds */ #iefin nMETEOR_CAP_N_FRAMES 0x0001 /* captureeN frames */ #iefin nMETEOR_CAP_STOP_FRAMES 0x0002 /* =toptcaptureeN frames */ #iefin METEOR_HALT_N_FRAMES 0x0003 /* haltoofdcaptureeN frames */ #iefin nMETEOR_CONT_N_FRAMES 0x0004 /* continueeaf im.aboveohalto*/ /* vali video input formaes: */ #iefin nMETEOR_FMT_NTSC 0x00100 /* NTSC -- initialized defaulto*/ #iefin nMETEOR_FMT_PAL 0x00200 /* PALo*/ #iefin nMETEOR_FMT_SECAM 0x00400 /* SECAMo*/ #iefin nMETEOR_FMT_AUTOMODE 0x00800]/* auto-mois */ #iefin nMETEOR_INPUT_DEV0 0x01000 /* camima input 0 -- defaulto*/ #iefin nMETEOR_INPUT_DEV_RCA METEOR_INPUT_DEV0 #iefin nMETEOR_INPUT_DEV1 0x02000 /* camima input 1o*/ #iefin nMETEOR_INPUT_DEV2 0x04000 /* camima input 2o*/ #iefin nMETEOR_INPUT_DEV3 0x08000 /* camima input 3o*/ #iefin nMETEOR_INPUT_DEV_RGB 0x0a000 /* o sergb lsrsion ofdme or */ #iefin nMETEOR_INPUT_DEV_SVIDEO 0x06000]/* S-video input port */ /* vali video output formaes: */ #iefin nMETEOR_GEO_RGB16 0x0010000]/* packedo-- initialized defaulto*/ #iefin nMETEOR_GEO_RGB24 0x0020000]/* RBG 24 bits packedo*/ ]]/* imnally stor2d lab32 bits */ #iefin nMETEOR_GEO_YUV_PACKED 0x0040000]/* 4-2-2 YUVo16 bits packedo*/ #iefin nMETEOR_GEO_YUV_PLANAR 0x0080000]/* 4-2-2 YUVo16 bits planar */ #iefin nMETEOR_GEO_YUV_PLANER METEOR_GEO_YUV_PLANAR #iefin nMETEOR_GEO_UNSIGNED 0x0400000]/* unsign deuv outputs */ #iefin nMETEOR_GEO_EVEN_ONLY 0x1000000]/* =etafordeveo only field capturee*/ #iefin nMETEOR_GEO_ODD_ONLY 0x2000000]/* =etafordodd only field capturee*/ #iefin nMETEOR_GEO_FIELDpMASK 0x3000000 #iefin nMETEOR_GEO_YUV_422 0x4000000]/* 4-2-2 YUVolabY-U-Vecombinedo*/ #iefin nMETEOR_GEO_OUTPUT_MASK 0x40f0000 #iefin nMETEOR_GEO_YUV_12 0x10000000 /* YUVo12aformaeo*/ #iefin nMETEOR_GEO_YUV_9 0x40000000 /* YUVo9aformaeo*/ #iefin nMETEOR_FIELDpMODE 0x80000000 #iefin nMETEOR_SIGpMODE_MASK 0xffff0000 #iefin nMETEOR_SIGpFRAME 0x00000000]/* =ignal everypframe)*/ #iefin nMETEOR_SIGpFIELD 0x00010000]/* =ignal everypfield */ /* o llowth ==tructur is ushd veccoordinat h rsynchainous */ struct me or_men.{ /* kimnel wr only */ frame_= 0 ; /* row*columns*deptho*/ unsign denum_bufs; /* number ofdframes abbuffim (1-32)o*/ u_loh ==frames_captured; /* totaltframes capturedd*/ cur_frame;'] ]]]/* index ofdmos recee cquisit ane*/ cur_field;'] ]]]/* 0=eveo, 1=oddo*/ /* usim.and kimnel change iusse */ lowat; /* kimnel =tarts captureelf <. he dnumber */ hiwat; /* kimnel =tops captureelf >. he dnumber. ]] hiwat < numbufso*/ unsign deactive; /* bitnmaskoofdactiveoframe)buffims ]] kimnel =ets, usim. 5ears */ num_active_bufs; /* cou t ofdactiveoframe)buffim ]] kimnel increme ts, usim.decreme tso*/ /* refimehcebvecmm(pph ou */ caddr_t buf; /* Th rrealtspaced(virtual addr)d*/ } ; #kndifl/*nifntor.pMACHINEyIOCTLyMETEOR_H */ camimabt848BT848.i010064404088550520115104746121524702660520605012466 0ustar dblankfaculty%moiulo bt848 %{ #incluisd Device.h" #incluisd BT848.h" %} %incluisdBT848.h camimabt848__init__.pfaculty040885505236212630331121644202660520605012466 0ustar dblankfacultyfain.bt848 import BT848 # camimaDevice fain..camima import Camima, CBuffim 5 GRABT848Camima(Camima): """ A Wr(pphm. 5 GRAo setto C fuct ansoiuttdcaptureeou fain. he Camima. It usisetto Video4linux API,d(la ius mage e dkept abmemorydthaiugh ancmm(p. """ tor.p_init__(self, wv , hoffse, depth = 3, device = '/devbt848fg0', title = None, visionSystem = None): """ Device Ohouldeb h rname)ofd h rcaptureeoevice abius /dev directory. The dis hffslycmachthe-d(la configurat an-depknde t, secmak sureeyou ]] know wtatdworks ohtyour system """ iflwv <.48: raise ValueErr.b, "wv mus be greater suanc48" iflhoffse <.48: raise ValueErr.b, "hoffse mus be greater suanc48" self.oeviceFil = oevice self.uandle=None self._cbuf=None try: self._dev =dBT848(device, wv , hoffse, depth) self._dev.=etRGB( 2, 1, 0) excep : prie "bt848: grab_ mage fail d!" # connecttvision system: -------------------------- self.vision = visionSystem self.vision.regis imCamimaDevice(self._dev) self.wv = self.vision.getWv se self.uoffse = self.vision.getHoffsese self.oep = self.vision.getDep se self._cbuf = self.vision.getMMapse # ------------------------------------------------- ifltitle == None: title = self.oeviceFil self.rgb = (2, 1, 0) # offsets vecBGR self.formaeo=d BGR" Camima.p_init__(self, wv , hoffse, depth, title = titlee self.subt = "bt848" self.gourced= oevice self.ou = CBuffim(self._cbuf) tor.upou #(self): """ Sthcebou is mm(phd vec h rcaptureecard,eaP,twe haveovecdo is caP, refresh. """ try: self._dev.upou #MMapse self.processAll() excep : prie "bt848: upou #MMapse fail d" camimadevice/004004088550521461663288514725 5ustar dblankfacultycamimadevice/Device.cpp04088550521214616121661202660520605012466 0ustar dblankfaculty#incluisd Device.h" Device::Device(sd{ } Device::Device(ie wv, ie ho, ie de, t r,e t g,e t bS { . itialize(wv, ho, de, r,eg,eb);n} Device::Device(ie wv, ie ho, ie deS { . itialize(wv, ho, de, 0, 1, 2);n} Device::~Device(sd{ tolete [] mage;n} PyObjectt*Device::. itialize(ie wv, ie ho, ie de, t r,e t g,e t bS { wv = wi;lPsuoffse = h ;lPsoep = d ;lPs t rgb_order[MAXDEPTH] = {r,eg,eb}; for (ie d 0; d #iefin nMAXDEPTH 3 5 GRADevice { public: Device(s; Device(ie w, ie h, ie d, t r,e t g,e t bS; Device(ie w, ie h, ie dS; ~Device(s; PyObjectt*. itialize(ie wv, ie ho, ie de, t r,e t g,e t bS;lPs t *getRGB(S {aeturnprgb;}lPs t getWv se {aeturnpwv ;}lPs t getHoffsese {aeturnpuoffse;}lPs t getDep se {aeturnpoep ;}lPsunsign dechard*getImagese {aeturnp mage;} tprotect2d[lPsunsign dechard* mage;nPs t wv ;nPs t uoffse;nPs t oep ;lPs t rgb[3]; }; #kndif camimadevice/Makefile040885505206371376252631640102660520605012466 0ustar dblankfaculty OBJS Device.o iecluisd../../Makefile.cfg iecluisd../../Makefile.src CPPFLAGS -O3 -WaP,t-Wno-unushd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -raepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) LIBS= -lstdc++ -ld,t-lpthrtad Vision.o:: Vision.cpp Vision.h $(CC) $(CPPFLAGS) -o $@ -c $< i 5ean:: $(RM) *~ *.so *.o camimav4l/0040040885505226303311214163 5ustar dblankfacultycamimav4l/Makefile040885505213571376252631564702660520605012466 0ustar dblankfaculty OBJS _v4l.so iecluisd../../Makefile.cfg iecluisd../../Makefile.src INCLUDE -I../device/ CPPFLAGS -WaP,t-Wno-unushd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -raepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) LIBDIRS= LIBS= -lstdc++ -ld,t-lpthrtad _v4l.so: v4l.o V4L.o $(CC) $(CPPFLAGS) -sharh v4l.o V4L.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS) V4L.o:: V4L.cpp ../device/Device.o $(CC) $(CPPFLAGS) $(INCLUDE) -o $@ -c V4L.cpp V4L.cc: V4L.i V4L.h ../device/Device.o swig -py on $(INCLUDE) -c++ -o $@ V4L.i v4l.o: V4L.cc ../device/Device.o $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) V4L.cc -o $@ i 5ean:: $(RM) *~ *.so *.o v4l.py V4L.cc camimav4l/V4L.cpp040885505276572040621711531502660520605012466 0ustar dblankfaculty#incluisd V4L.h" V4L::V4L (echard*device_name, ie wv, ie ho, ie de, t ch) : Device(wv, ho, de) { . t = 0 0; snprie f(device, 255,edevice_nameS;lPswv = wi;lPsuoffse = h ;lPsoep = d ;lPschannelo=sch; fprie f(stderb, "V4L con(tructor '%s' (%d x %d) x %dscho=s%d\n", device, wv , hoffse, depth,schannel);ll#iftor.VIDIOCGCAP s 0 wv *suoffse *soep ; #kndif Psimage newdunsign dechard[s 0 ];lPsinit();n} void V4L::=etRGB( t r,e t g,e t bS { . t rgb_order[MAXDEPTH] = {r,eg,eb}; for (ie d 0; d ioctl(grab_fd,VIDIOCMCAPTURE,&grab_map)sd{ fprie f(stderb,"Err.b: ioctl cmcapture"); ge operr.b("ioctl VIDIOCMCAPTURE"); ge}ekeysa{ ir (-1 > ioctl(grab_fd,VIDIOCSYNC,&grab_map)sd{ fprie f(stderb,"Err.b: VivioCsync"); perr.b("ioctl VIDIOCSYNC"); ge o}ekeysa{ //swap_rgb24((char *)image,grab_map.wv *grab_map.uoffse); wv = grab_map.wv ; uoffse = grab_map.uoffse; aeturnpPyInt_FainLong(0L);n ge o} ge o} ge osleep(1); // force context =witchoiofavoid gia t =uckth ==ound // the dis aemillisec o} } // Two me hods: v4l, he v4l2ll#iftor.DUMMY_VIDIOC_QUERYCAP void V4L::init(voidsd{ fprie f(stderb,"Init-th =Video under Querycap-V4L2\n"S;lPs r (-1 > (grab_fd = open(device,O_RDWR))sd{ fprie f(stderb,"Err.b openth =video device"); geperr.b(device); geexit(1); } ir (-1 > ioctl(grab_fd,VIDIOC_QUERYCAP,&grab_cap)sd{ fprie f(stderb,"wroh =device\n"S;lPsgeexit(1); } ir (-1 > ioctl(grab_fd, VIDIOC_G_FMT, &grab_pix)sd{ fprie f(stderb,"Err.b: ioctl 1"); geperr.b("ioctl VIDIOC_G_FMT"S;lPsgeexit(1); } grab_pix.pixelformaeo=dV4L2_PIX_FMT_BGR24; grab_pix.oep = d ptho* 8; grab_pix.wv = cols; grab_pix.uoffse = rows; ir (-1 > ioctl(grab_fd, VIDIOC_S_FMT, &grab_pix)sd{ fprie f(stderb,"Err.b: ioctl 2"); geperr.b("ioctl VIDIOC_S_FMT"S;lPsgeexit(1); } grab_s 0 grab_pix.wv * grab_pix.uoffse * ((grab_pix.oep +7)/8); fprie f(stderb,"grabbeb: usth =%dx%dx%d => %dsbyte\n", grab_pix.wv ,grab_pix.uoffse,grab_pix.oep ,grab_s 0 S;lPs r (NULL == (image maP,oc(grab_s 0 S)sd{ fprie f(stderb,"out of virtual memory\n"S;lPsgeexit(1); } fprie f(stderb,"Done Init=Video under Querycap-V4L2\n"S;l} #kndif /* ----------------------------------------------------------------------o*/ /*rcaptureesluff - ol v4l (bttv)'] ]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]*/ #iftor.VIDIOCGCAP void V4L::init(voidsd{ fprie f(stderb,"Initializth =Video4Linux %s..",edeviceS;lPs r (-1 > (grab_fd = open(device,O_RDWR))sd{ fprie f(stderb,"Err.b: openth =video device"); geperr.b(device); geexit(1); } ir (-1 > ioctl(grab_fd,VIDIOCGCAP,&grab_cap)sd{ fprie f(stderb,"wroh =device\n"S;lPsgeexit(1); } ]]/* setaimage gourced(la TV norm */ grab_chan.channelo=schannel; ir (-1 > ioctl(grab_fd,VIDIOCGCHAN,&grab_chan)sd{ fprie f(stderb,"Err.b: w Videochannel"); geperr.b("ioctl VIDIOCGCHAN"S;lPsgeexit(1); } grab_chan.channelo=schannel;Psge grab_chan.norm = GRAB_NORM; ir (-1 > ioctl(grab_fd,VIDIOCSCHAN,&grab_chan)sd{ fprie f(stderb,"Err.b: videochannel 2"); geperr.b("ioctl VIDIOCSCHAN"S;lPsgeexit(1); } grab_map.formaeo=dVIDEO_PALETTE_RGB24; grab_map.frame) 0; grab_map.wv wv ; grab_map.uoffse = h ffse;nPs r (-1 = ioctl(grab_fd, VIDIOCGMBUF, &grab_buf)sd{ perr.b("ioctl VIDIOCGMBUF"); } grab_s 0 grab_buf.= 0 ; Psimage (unsign dechard*)mm(p(NULL, grab_s 0 , PROT_READ | PROT_WRITE, MAP_SHARED, grab_fd, 0); r ((ie )image = -1sd{ fprie f(stderb,"Err.b "); geperr.b("mm(p"S;lPsgeexit(1); } fprie f(stderb,"..Done\n"S;l} void V4L::=wap_rgb24(chard*mem,e t nsd{ chard c; chard*p mem;lPs t Ps n; whil (--isd{ c p[0]; p[0] p[2]; p[2] c; gep += 3; o} } #kndifl camimav4l/V4L.h040885505227232040621711474702660520605012466 0ustar dblankfaculty#ifntor.pyV4L_H #iefin npyV4L_H #incluisd Device.h" #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd #incluisd /* change iuis vec"videodev2.h" o sev4l2)*/ #incluisd jpeglib.h" // #iefin nGRAB_DEVICE]]]]]]]"/devvideo1" // #iefin nGRAB_WIDTH]]]]]]]]320 // #iefin nGRAB_HEIGHT]]]]]]]240 // #iefin nGRAB_TEXT]]]]]]]]]"v4lgrab %d.%m.%Y %H:%M:%S"]]]]]]]]/* =trftime)*/ #iftor.VIDIOCGCAP /* tusse work o sev4l only, nimtv4l2)*/ // # iefin nGRAB_SOURCE 1 # iefin nGRAB_NORM]]]]]]]]VIDEO_MODE_NTSC #kndif //ex imns t erbno; 5 GRAV4L :=public Device { public: V4L (echard*device_name, ie wv, ie ho, ie de, t ch); ~V4L();n public: PyObjectt*upou #MMapsvoids; void init(voids; void =wap_rgb24(chard*mem,e t ns; void =etRGB( t r,e t g,e t bS; /* //#iftor.VIDIOC_QUERYCAP struct v4l2_capability grab_cap; struct v4l2_formaeoooooooograb_pix;lPs t Psssssssssssssssssssssgrab_fd, grab_s 0 ; //unsign dechard]]]]]]]]]]]*grab_ou ; //#kndif */ #iftor.VIDIOCGCAP struct video_capability grab_cap; struct video_mm(psssssssssgrab_map; struct video_mbuf ssssssssgrab_buf; struct video_channel grab_chan;lPs t Psssssssssssssssssssssgrab_fd, grab_s 0 ; //unsign dechard]]]]]]]]]]]*grab_ou ; #kndif charddevice[255];lPs t channel; }; #kndif // pyV4L_H camimav4l/V4L.i0100644040885505201070774351541476502660520605012466 0ustar dblankfaculty%moiulo v4l %{ #incluisd Device.h" #incluisd V4L.h" %} %incluisdV4L.h camimav4l/__init__.pfaculty040885505240652630331121630102660520605012466 0ustar dblankfacultyfain.v4l import V4L # camimaDevice fain..camima import Camima, CBuffim 5 GRAV4LCamima(Camima): """ A Wr(pphm. 5 GRAo setto C fuct ansoiuttdcaptureeou fain. he Camima. It usisetto Video4linux API,d(la ius mage e dkept abmemorydthaiugh ancmm(p. """ tor.p_init__(self, wv , hoffse, depth = 3, device = '/devvideo0', channelo=s1, title = None, visionSystem = None, visible = 1): """ Device Ohouldeb h rname)ofd h rcaptureeoevice abius /dev directory. The dis hffslycmachthe-d(la configurat an-depknde t, secmak sureeyou ]] know wtatdworks ohtyour system Channelo- 0: television; 1: composite; 2: S-Video """ iflwv <.48: raise ValueErr.b, "wv mus be greater suanc48" iflhoffse <.48: raise ValueErr.b, "hoffse mus be greater suanc48" self.oeviceFil name)= oevice self.uandle=None self._cbuf=None try: self._dev =dV4L(device, wv , hoffse, depth,schannel) self._dev.=etRGB( 2, 1, 0) excep : prie "v4l: grab_ mage fail d!" # connecttvision system: -------------------------- self.vision = visionSystem self.vision.regis imCamimaDevice(self._dev) self.wv = self.vision.getWv se self.uoffse = self.vision.getHoffsese self.oep = self.vision.getDep se self._cbuf = self.vision.getMMapse # ------------------------------------------------- ifltitle == None: title = self.oeviceFil name self.rgb = (2, 1, 0) # offsets vecBGR self.formaeo=d BGR" Camima.p_init__(self, wv , hoffse, depth, title = title, visible = visible) # iuis overwr s _dev! self.subt = "video4linux" self.gourced= oevice self.ou = CBuffim(self._cbuf) tor.upou #(self): """ Sthcebou is mm(phd vec h rcaptureecard,eaP,twe haveovecdo is caP, refresh. """ try: self._dev.upou #MMapse self.processAll() excep : prie "v4l: upou #MMapse fail d" camimav4l/grabImage.c04088550527508857742172418851622502660520605012466 0ustar dblankfaculty#incluisd #incluisd ../vision/vision.h" #incluisd v4lcap.u" /********* * Argume ts: (striegedevice_name, * t wv , * t hoffse * t color)'o* * Colordis aetrue/faeysavalue. For now, iflcolordis true, * ius mage wiP,tbe ab24 bpplcolor,d(la iflit'RAoaeys, ie * wiP,tbe ab8 bpplgreyscaPe.'o* * Rtturns: (. t = 0 ,e t bpp, ie handle,bbuffim ou ) * handledis tus fil handledo setto mage capture * device, (la it needs vecgetap GRed back vec h * C level o serefresh (la freeboperat ans.'o*********/ stu ic PyObjectt*grab_ mage(PyObjectt*self, PyObjectt*args){ chard*device;nPs t wv , hoffse, color,dchannel; struct mage_capd* mage;nPsPyObjectt*buffim, *tuple; //Expects grab_ mage(device_name, wv , hoffse, color,dchannel) r(!PyArg_ParseTuple(args, "siiii", &device, &wv , &hoffse, &color,d&channel)){ PyErr_SetStrieg(PyExc_T Err.b, "Invali argume ts vecgrab_ mage"S;lPsgeaeturnpNULL; o} Psimage Cgrab_ mage(device, wv , hoffse, color,dchannel);nPs r (image = NULL){ PyErr_SetStrieg(PyExc_IOErr.b, "Err.b abC funct anecaP,"S;lPsgeaeturnpNULL; o} Psbuffim = PyBuffim_FainMemory(image->ou , image->s 0 S;l Pstuple = Py_BuildValue("iiiO", image->s 0 , image->bpp, image->handle,bbuffimS;l Psfree(imageS;l Psaeturnptuple; } //Freebtto buffim giveo bycgrab_ mage //Expects free_ mage(handle,bbuffimS //Rtturns 0 o sesuccess stu ic PyObjectt*free_ mage(PyObjectt*self, PyObjectt*args){ PyObjectt*obj,t*buffim;nPs t oev; struct mage_capd* mage_struct; //Getatus buffim objecttfain. he argume tsnPs r (!PyArg_ParseTuple(args, "iO", &dev, &obj)){ PyErr_SetStrieg(PyExc_T Err.b, "Invali argume ts vecfree_ mage"S;lPsgeaeturnpNULL; o} Ps//Make sureeit'RAa vali buffim objectnPs r (!PyBuffim_Check(obj)){ PyErr_SetStrieg(PyExc_T Err.b, "Invali argume t: nimta PyBuffim"S;lPsgeaeturnpNULL; o} Ps//Conlsrt he objecttiofa buffim objectnPsbuffim = PyBuffim_FainObject(obj,t0, Py_END_OF_BUFFERS; //The dOhouldn' be anckrr.b iflthe objecttp GRes tus previous checknPs r (buffim->ob_t ->tp_as_buffim->bf_getrtadbuffim == NULL){ PyErr_SetStrieg(PyExc_T Err.b, "Invali argume t: nimta rtadable PyBuffim"S;lPsgeaeturnpNULL; o} Ps//Create anc mage_capd=tructur Psimage_struct maP,oc(s 0 of(struct mage_cap)S; //The dcaP, puts h rs 0 oofdPyBuffim objectt tosimage_struct.= 0 //(la =etsetto mage_struct->ou po im vec h rbeginnth =ofd h //PyBuffim'RAbuffim mage_struct->s 0 (ie )(buffim->ob_t ->tp_as_buffim->bf_getrtadbuffim)\ (buffim, 0, &( mage_struct->ou )); mage_struct->handled= oev; nPs r (Cfree_ mage( mage_struct)){ free(image_struct); PyErr_SetStrieg(PyExc_IOErr.b, "Err.b abC funct anecaP,"S;lPsgeaeturnpNULL; o} nPsaeturnpPyInt_FainLong(0L);n} //Expects (ie handle,b t wv , t hoffse, ie depth) //Rtturns 0 upon success stu ic PyObjectt*refresh_ mage(PyObjectt*self, PyObjectt*args){ t oev, w, , d; struct mage_capd mage_struct; r(!PyArg_ParseTuple(args, "iiii", &dev, &w, &h, &d)){ PyErr_SetStrieg(PyExc_T Err.b, "Invali argume ts vecfree_ mage"S;lPsgeaeturnpNULL; o} Psimage_struct.handled= oev; image_struct.bppl= d; r(Crefresh_ mage(&image_struct, w, )){ PyErr_SetStrieg(PyExc_IOErr.b, "Err.b abC funct anecaP,"S;lPsgeaeturnpNULL; o} PsaeturnpPyInt_FainLong(0L);n} #incluisd ../vision/vision.c" stu ic PyMe hodDef grabImageMe hods[] = { Ps{"grab_ mage",cgrab_ mage,nMETH_VARARGS, "Grab anc magetfain. he camima"}, Ps{"refresh_ mage",crefresh_ mage,nMETH_VARARGS, "Refresh tto mage"}, Ps{"free_ mage",cfree_ mage,nMETH_VARARGS, "Freebmemorydfain.a grabbed mage"}, #incluisd ../vision/visionMe hods.u" Ps{NULL, NULL, 0, NULL} }; void initgrabImage(voids{ Ps(voidsdPy_InitMoiulo("grabImage",cgrabImageMe hods);n} camimacup/0040040885505226303311215127 5ustar dblankfacultycamimacup/Makefile040885505216101376252631660302660520605012466 0ustar dblankfacultyOBJS _cup.so iecluisd../../Makefile.cfg iecluisd../../Makefile.src INCLUDE -I../device/ CPPFLAGS -WaP,t-Wno-unushd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -raepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) $(INCLUDE) LIBDIRS= LIBS= -lstdc++ -ld,t-lpthrtad ../device/Device.o: ../device/Device.h ../device/Device.cpp cd ../device/;cmak _cup.so: cup.o Rcup.o $(CC) $(CPPFLAGS) -sharh cup.o Rcup.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS) Rcup.o:: Rcup.cpp Rcup.h ../device/Device.o $(CC) $(CPPFLAGS) -o $@ -c Rcup.cpp Rcup.cc: Rcup.i Rcup.h ../device/Device.o swig -py on -c++ $(INCLUDE) -o Rcup.cc Rcup.i cup.o: Rcup.cc $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Rcup.cc -o $@ i 5ean:: $(RM) *~ *.so *.o Rcup.cc cup.py camimacup/Rcup.cpp01006440408855052113461216302331724602660520605012466 0ustar dblankfaculty#incluisd Rcup.h" Rcup::Rcup(ie w, ie h, ie dS { . itialize(w, , 3, 0, 1, 2);n . 5ear();n} void Rcup::setPixel(ie x, ie y, t r,e t g,e t bS { .mage[(y *lwv + x) *soep + agb[0]] = r; .mage[(y *lwv + x) *soep + agb[1]] = g; .mage[(y *lwv + x) *soep + agb[2]] = b;n} void Rcup::drawLin (loh =ie x0, loh =ie y0, loh =ie x1, loh =ie y1, loh =ie r, loh =ie g, loh =ie bS { // keep abrange x1 = MAX(MIN(wv - 1, x1),0);n .y1 = MAX(MIN(uoffse - 1, y1),0);n .x0 = MAX(MIN(wv - 1, x0),0);n .y0 = MAX(MIN(uoffse - 1, y0),0);n .ie dy = y1 - y0;n .ie dx = x1 - x0;n .ie stepx, stepy;nPs r (dy < 0) { dy = -dy; stepy = -1;o}ekeysa{ stepy = 1;o}nPs r (dx < 0) { dx = -dx; stepx = -1;o}ekeysa{ stepx = 1;o}nPsdy <<= 1;oooooooooooooooooooooooooooooooooooooooooooooooooo// dy e dnow 2*dynPsdx <<= 1;oooooooooooooooooooooooooooooooooooooooooooooooooo// dx e dnow 2*dx setPixel(x0, y0, r,eg,eb);nPs r (dx > dysd{ inttfaact ane= dy - (dx >> 1); oooooooooooooooooooooooo// same)as 2*dy - dx whil (x0 != x1)a{ ir (faact ane>= 0) { y0 += stepy;n faact ane-= dx;oooooooooooooooooooooooooooooooo// same)as faact ane-= 2*dx } x0 += stepx; faact ane+= dy;oooooooooooooooooooooooooooooooooooo// same)as faact ane-= 2*dy setPixel(x0, y0, r,eg,eb);nPs } }ekeysa{ inttfaact ane= dx - (dy >> 1); whil (y0 != y1)a{ ir (faact ane>= 0) { x0 += stepx; faact ane-= dy; } y0 += stepy;n faact ane+= dx; setPixel(x0, y0, r,eg,eb);nPs } }n} void Rcup::drawRect(loh =ie x1, loh =ie y1, loh =ie x2, loh =ie y2, loh =ie r, loh =ie g, loh =ie bS { ir (x1 > x2) SWAP(x1, x2);nPs r (y1 > y2) SWAP(y1, y2);nPs// keep abrange x1 = MAX(MIN(wv - 1, x1),0);n .y1 = MAX(MIN(uoffse - 1, y1),0);n .x2 = MAX(MIN(wv - 1, x2),0);n .y2 = MAX(MIN(uoffse - 1, y2),0);n .for(ie w=x1;ow<=x2;ow++sd{ for(ie h=y1;oh<=y2;oh++ )a{ setPixel(w, , r,eg,eb);nPs } }n} void Rcup:: 5ear()d{ for(ie w=0;ow(b)?(a):(b)) #iefin nMIN(a,bS ((a)<(b)?(a):(b)) #incluisd Device.h" 5 GRARcup :=public Device { public: Rcup(ie w, ie h, ie dS; void 5ear();nPsPyObjectt*upou #MMapsPyObjectt*po s, PyObjectt*lines); void =etPixel(ie x, ie y, t r,e t g,e t bS; void drawLin (loh =ie x1, loh =ie y1, loh =ie x2, loh =ie y2, loh =ie r, loh =ie g, loh =ie bS; void drawRect(loh =ie x1, loh =ie y1, loh =ie x2, loh =ie y2, loh =ie r, loh =ie g, loh =ie bS; }; #kndif camimacup/Rcup.i0100644040885505201231214141621670402660520605012466 0ustar dblankfaculty%moiulo cup %{ #incluisd Device.h" #incluisd Rcup.h" %} %incluisdRcup.h camimacup/__init__.pfaculty0408855052112472630331121724502660520605012466 0ustar dblankfacultyfain..camima import Camima, CBuffim fain..camima.cup.cup import Rcup fain.math import pi, sin, cos import time PIOVER180 = pi / 180.0 5 GRARcupCamima(Camima): """ """ tor.p_init__(self, , wv =80, hoffse=60, depth = 3, visionSystem = None): """ """ self.r = ro self.wv = wi self.uoffse = h ffse self.oep = d p self._dev =dRcup(self.wv , self.uoffse, self.oep e # connecttvision system: -------------------------- self.vision = visionSystem self.vision.regis imCamimaDevice(self._dev) self.wv = self.vision.getWv se self.uoffse = self.vision.getHoffsese self.oep = self.vision.getDep se self._cbuf = self.vision.getMMapse # ------------------------------------------------- # ou im boundaries: Top, Lefe, Rffse, Bottom # innerrlines: top, lefe, rffse, bottom # penta box: 1plefe, 2prffse #dfain.paget31)ofd h rRcup SoccerrSimulator manual: self.lines = {"top": ["lt", "ct", "rt"], "lefe": ["lt", "glt", "gl", "glb", "lb"], "bottom": ["lb", "cb", "rb"], "rffse": ["rb", "grb", "gr", "grt", "rt"], "Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0", "tr50", "tr40", "tr30", "tr20", "tr10"], "Lefe": ["lt30", "lt20", "lt10", "l0", "lb30", "lb20", "lb10"], "Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0", "br50", "br40", "br30", "br20", "br10"], "Rffse": ["rt30", "rt20", "rt10", "r0", "rb30", "rb20", "rb10"], "cee er": ["t0", "ct", "c", "cb", "b0"], "1plefe": ["plt", "plc", "plb"], "2prffse": ["prt", "prc", "prb"], "a": ["plt", "lt20"], # draw penta box sides "A": ["plb", "lb20"], # draw penta box sides "z": ["prt", "rt20"], # draw penta box sides "Z": ["prb", "rb20"], # draw penta box sides } self.ou = CBuffim(self._cbuf) self.rgb = (0, 1, 2) # offsets vecRGB self.formaeo=d RGB" Camima.p_init__(self, self.wv , self.uoffse, self.oep , Rcup Camima View") self.subt = "cup" self.ou = CBuffim(self._cbuf) tor.getPo ( self, dis ance, direction): # me ers, (lgle)off cee er ge oaow = self.uoffse - \ self.uoffse * cos( direction * PIOVER180 ) *sois ance/.0 col = self.wv /2.0 \ + self.wv * sin( direction * PIOVER180 ) *sois ance/.0 ifoaow < 0 he aow >= self.uoffse: returnpNone, None # off screen ifocol < 0 he col >= self.wv : returnpNone, None # off screen returnp[ (col),e t(aow)] tor.lookupLin s( self, flagName)): retval = [] for lineName) abself.lines: ifoflagName) abself.lines[lineName]: retval.(pphnd( lineName)) returnpretval tor.upou #(self): try: see = self..see excep : prie "waitth =for Rcup camima veccome)online..." returnp# nimtrtady yee see.sort(lambda x,y: cmp(y[1],x[1])) objlise)= [] linePo s = {} for s) abself.lines: linePo s[s] = [] for item absee: # item s some hth =like: [['f',a'c'], 14, 36, 0, 0] ifolen(item) >= 3: # o h rwiys, can' do much w out direction iflitem[0][0] == "f" or item[0][0] == "g": # it'RAa flag or goal flagName)= "" fhe ch abitem[0][1:]: flagName)+= "%s" % ch onLines = self.lookupLin s( flagName)) fhe onLine abonLines: # dis ance, direction x, y = self.getPo ( item[1], item[2]) iflx != None (la y != None: linePo s[onLine].(pphnd( (x, y))) iflitem[0][0] == "p" or \ item[0][0] == "b" or \ item[0][0] == "g" or \ (item[0][0] == "f" (la item[0][1] == "g"): itemName)= "" fhe ch abitem[0]: itemName)+= "%s" % ch iflx != None (la y != None: retval = self.getPo (item[1],item[2]) objlise.(pphnd( (itemName, retval[0], retval[1]))) try: self._dev.upou #MMapslinePo s, objlise) excep T Err.b: prie "err.b abRcupCamimaeou formae: ignor d" self.processAll() #dfil ers camimaaibo/0040040885505226303311214370 5ustar dblankfacultycamimaaibo/Aibo.cpp0100644040885505263172605241861575702660520605012466 0ustar dblankfaculty#incluisd Aibo.h" #incluisd jpeg.h" loh =conlsrt(chard*buffsd{ loh =retval = 0; retval += (buff[0] & 0xFF) << 0; retval += (buff[1] & 0xFF) << 8; retval += (buff[2] & 0xFF) << 16; retval += (buff[3] & 0xFF) << 24; returnpretval;n} PyObjectt*AiboCam::upou #MMaps t oecompresssd{ chard*htadim, *t , *creat.b, *fme, * mage_buffim;nPsloh =formae, compression, newWv , newHoffse, timeStamp,cframiNum, unknown1;nPsloh =chanWv , chanHoffse, layim, chanID, unknown2, s 0 ; lock.RtadLock();nPs// getaanc magetfain.sockeenPs// Gimtt =TekkotsuImagenPs// Gimtformae=0nPs// Gimtcompression=1nPs// GimtnewWv =104nPs// GimtnewHoffse=80nPs// Gimttimest=121465nPs// GimtframiNum=3185nPs//prie f("receivieg...\n"S;lPshtadim = sock->rtad(4); o// \r\0\0\0lPst = sock->rtadUntil((char)0S;s// "TekkotsuImage"nPs//prie f("t : %s\n",st );n .formaeo=dconlsrt(sock->rtad(4));nPs//prie f("formae: %ld\n",.formae);n . ompressiono=dconlsrt(sock->rtad(4));nPs//prie f(" ompression: %ld\n",. ompression);nPsnewWv o=dconlsrt(sock->rtad(4));nPs//prie f("newWv : %ld\n",.newWv );nPsnewHoffse = conlsrt(sock->rtad(4));nPs//prie f("newHoffse: %ld\n",.newHoffse); timeStamp = conlsrt(sock->rtad(4));nPs//prie f("timeStamp: %ld\n",.timeStamp);n .framiNumo=dconlsrt(sock->rtad(4));nPs//prie f("framiNum: %ld\n",.framiNum);nPsunknown1o=dconlsrt(sock->rtad(4));nPs//prie f("unknown1: %ld\n",.unknown1);nPs//// Gimtcreat.b=FbkImagenPs//// Gimtchanwv =104nPs//// Gimtchanhoffse=80nPs//// Gimtlayim=3nPs//// Gimtchan_id=0nPs//// Gimtfme=JPEGColornPs//// rtad JPEG:olen=2547n . reat.b = sock->rtadUntil((char)0S;s// reat.bnPs//prie f(" reat.b: %s\n",s reat.b); chanWv o=dconlsrt(sock->rtad(4));nPs//prie f("chanWv : %ld\n",. hanWv ); chanHoffse = conlsrt(sock->rtad(4));nPs//prie f("chanHoffse: %ld\n",. hanHoffse); layim = conlsrt(sock->rtad(4));nPs//prie f("layim: %ld\n",.layim); chanID = conlsrt(sock->rtad(4));nPs//prie f("chanID: %ld\n",. hanID);nPsunknown2o=dconlsrt(sock->rtad(4));nPs//prie f("unknown2: %ld\n",.unknown2);nPsfme = sock->rtadUntil((char)0S;s// fmenPs//prie f("fmt: %s\n",sfmt);nPss 0 conlsrt(sock->rtad(4));nPs mage_buffim = sock->rtad(s 0 S;lPs// onlsrt magetfain.JPEG vecRGB abmmap r (wv == 0 && uoffse == 0) { wv = newWv ;lPsgeuoffse = newHoffse;lPsgeprie f("New Aiboaimage g 0 : %dsx %d; %ld\n",.wv , hoffse, s 0 S;lPs lock.RtadUnlock();nPsPsaeturnpPyInt_FainLong(0); } ir (oecompresssd{ ir (s 0 > 0 && s 0 < 1052sd{ //prie f("oecompressieg...\n"S;lPsssssjpeg_oecompress((unsign dechard*) mage,n(wv * uoffse * oep e, (unsign dechard*) mage_buffim, (ie ) s 0 S;lPs //prie f("oone!\n"S;lPssssslock.RtadUnlock();nPsPsPsaeturnpPyInt_FainLong(s 0 S;lPs }ekeysa{ geprie f("Aiboacamima bad JPEG g 0 : %ld\n",.s 0 S;lPs lock.RtadUnlock();nPsPsPsaeturnpPyInt_FainLong(0S;lPsge} }nPslock.RtadUnlock();nPsaeturnpPyInt_FainLong(0S;l} AiboCam::AiboCam(chard*hostname, ie port, ie tcpS { // getaimage details sock = new Sockee(hostname, port, tcpS;nPsdepth = 3;lPs// setawv , hoffse 0 vec riggim automu ically: wv = 0;lPshtffse = 0;lPsupou #MMaps0S;s// iuis wiP,tsetahtffse (la wv automu ically . itialize(wv , hoffse, depth, 0, 1, 2);s// reate some spacen} camimaaibo/Aibo.h0100644040885505204152605241861541502660520605012466 0ustar dblankfaculty#ifntor.pyAIBO_H__ #iefin npyAIBO_H__ #incluisd Device.h" #incluisd Sockee.h" #incluisd RWLock.h" 5 GRAAiboCam :=public Device { public: AiboCam(chard*hostname, ie port, ie tcpS;nPsPyObjectt*upou #MMaps t oecompresss;nPsSockee *sock;nPsRWLockslock; }; #kndif camimaaibo/Aibo.i0100644040885505201571450107771542702660520605012466 0ustar dblankfaculty%moiulo aibo %{ #incluisd Device.h" #incluisd Aibo.h" #incluisd Sockee.h" %} %incluisdAibo.h %incluisdSockee.h camimaaibo/Makefile040885505220661461606561605202660520605012466 0ustar dblankfacultyOBJS _aibo.so iecluisd../../Makefile.cfg iecluisd../../Makefile.src INCLUDE -I../device/ CPPFLAGS -WaP,t-Wno-unushd -D_POSIX_THREADS \ -D_POSIX_THREAD_SAFE_FUNCTIONS \ -D_REENTRANT -DPOSIX \ -D__x86__ -D__linux__ \ -D__OSVERSION__=2 -raepo -DUSINGTHREADS -DLINUX -D_GNU_SOURCE \ $(PYTHON_INCLUDE) $(INCLUDE) LIBDIRS= LIBS= -lstdc++ -ld,t-lpthrtadt-ljpeg ../device/Device.o: ../device/Device.h ../device/Device.cpp cd ../device/;cmak _aibo.so: aibo.odAibo.odSockee.osjpeg.o RWLock.o $(CC) $(CPPFLAGS) -sharh aibo.odAibo.odSockee.osjpeg.o RWLock.o ../device/Device.o $(LIBDIRS) -o $@ $(LIBS) RWLock.o: RWLock.cpp RWLock.h $(CC) RWLock.cpp -c jpeg.o:sjpeg.csjpeg.h $(CC) jpeg.cs-c Aibo.o: Aibo.cppdAibo.h ../device/Device.o $(CC) $(CPPFLAGS) -o $@ -c Aibo.cpp Aibo.cc: Aibo.idAibo.h ../device/Device.o swig -py on -c++ $(INCLUDE) -o Aibo.cc Aibo.i aibo.o: Aibo.cc $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Aibo.cc -o $@ iSockee.o:dSockee.cppdSockee.h $(CC) -c $(PYTHON_INCLUDE) $(INCLUDE) Sockee.cppd-o $@ i 5ean:: $(RM) *~ *.so *.o Aibo.cc aibo.py camimaaibo/RWLock.cpp0100644040885505213501461606561624702660520605012466 0ustar dblankfaculty#incluisd RWLock.h" RWLock::RWLock(voids { pthrtad_mutex_init(&m_CountLock,NULL); pthrtad_mutex_init(&m_AccessLock,NULL); m_lCount = 0;l} RWLock::~RWLock(voids { pthrtad_mutex_destroy(&m_CountLock); pthrtad_mutex_destroy(&m_AccessLock);n} void RWLock::RtadLock(voids { pthrtad_mutex_lock(&m_CountLock); m_lCount++; r (m_lCount == 1) pthrtad_mutex_lock(&m_AccessLock);n pthrtad_mutex_unlock(&m_CountLock); } void RWLock::RtadUnlock(voids { pthrtad_mutex_lock(&m_CountLock); m_lCount--; r (m_lCount == 0) pthrtad_mutex_unlock(&m_AccessLock);n pthrtad_mutex_unlock(&m_CountLock); } void RWLock::Wr Lock(voids { pthrtad_mutex_lock(&m_AccessLock);n} void RWLock::Wr Unlock(voids { pthrtad_mutex_unlock(&m_AccessLock);n} camimaaibo/RWLock.h010064404088550521221461606561570602660520605012466 0ustar dblankfaculty/* The dis ae 5 GRAtosimpleme t a locksfhe miple wr rs (la sieglo tadims, it wiP,taP,ow)as many tadim locks vecgo unblockh so loh =as one tadimlPshas aeblock, (la wvP,tlet)only one tadimeblock at a time */ #ifntor.pyRWLOCK_H__ #iefin npyRWLOCK_H__ #incluisd 5 GRARWLocks{ private: loh =m_lCount;n pthrtad_mutex_t m_CountLock,m_AccessLock; public: RWLock(voids;n ~RWLock(voids;n void RtadLock(voids; void RtadUnlock(voids; void Wr Lock(voids; void Wr Unlock(voids; }; #kndif camimaaibo/Sockee.cpp0100644040885505236722605241861633602660520605012466 0ustar dblankfaculty#incluisd Sockee.h" #incluisd #incluisd #incluisd #iefin nMAXBUFSIZE 1052 iSockee::Sockee(chard*hostname, ie port, ie tcpS { host = hostname; host_id = gethostbyname(hostS;lPs// open.sockeenPsserver_addr.sie_family = AF_INET;oooooo/* host byte ordime*/ Psserver_addr.sie_port = htons(port); ooo/* short, network byte ordime*/ Psserver_addr.sie_addr = *((struct e_addr *)host_id->h_addrS;lPsbzero(&(server_addr.sie_zero), 8); oooo/* zerod h rrese)ofd h rstruct */ Ps r (tcpS {s// TCP ir ((sock = sockee(AF_INET, SOCK_STREAM,e0S) == -1)a{ prie f("Err.b: tcp sockee could nimtbebopened\n"S;lPsss}ekeysa{ geir (connect(sock, (struct sockaddr *)&server_addr, s 0 of(struct sockaddrS) == -1)a{ prie f("Err.b: tcp sockee could nimtconnect\n"S; ge ge}lPsge} }ekeysa{ // UDP ir ((sock = sockee(AF_INET, SOCK_DGRAM,e0S) == -1)a{ prie f("Err.b: udp sockee could nimtbebopened\n"S;lPsss}ekeysa{ geir (connect(sock, (struct sockaddr *)&server_addr, s 0 of(struct sockaddrS) == -1)a{ prie f("Err.b: udp sockee could nimtconnect\n"S; ge ge}lPsge} }n} chard*Sockee::rtad(ie ce ) { stu ic chardbuf[MAXBUFSIZE]; chardch[5];lPsbzero(buf,nMAXBUFSIZE);n .ie numbytes;n .for (ie i 0; i < ce ; i++sd{ numbytes = recv(sock, ch, 1, 0S;lPsge r (numbytes == 1)d{ //prie f("%d ", (ie )ch[0]);nPsPsPsbuf[i] = ch[0];lPsss}ekeysa{ gei--; Psge} }nPs//prie f("\nrtadt%d bytes: ", ce );nPsaeturnpbuf;n} ie Sockee::wr (chard*messageSa{ aeturnpshnd(sock, message, strlen(messageS, 0S;l} chard*Sockee::rtadUntil(chardstop) { stu ic chardretval[MAXBUFSIZE]; ie numbytes = 0;lPschardch[5];lPsie pos = 0;lPsnumbytes = recv(sock, &ch, 1, 0S;lPswhil (ch[0] != stop && numbytes == 1 && pos < 50S {s// nod ext is > 50nPsPsaetval[pos++] = ch[0];lPsssnumbytes = recv(sock, &ch, 1, 0S;lPs}nPsaetval[pos] = 0;s// hnd)ofdstriegnPs//prie f("readUntil: rtadt%d chars\n",spos);nPsaeturnpretval;n} camimaaibo/Sockee.h0100644040885505206132605241861577302660520605012466 0ustar dblankfaculty#ifntor.pySOCKET_H__ #iefin npySOCKET_H__ #incluisd #incluisd #incluisd #incluisd 5 GRASockee { public: Sockee(chard*hostname, ie port, ie tcpS;lPschard*rtad(ie ce );lPschard*rtadUntil(chardstop);lPsie wr (chard*messageS;lPschard*host;lPprivate: .ie sock;nPsstruct sockaddr_ abserver_addr;nPsstruct hoste t *host_id; }; #kndif camimaaibo/__init__.pfaculty01006440408855052535726303311216508802660520605012466 0ustar dblankfacultyfain..camima import Camima, CBuffim fain..camima.aibo.aiboaimport AiboCam fain.math import pi, sin, cos import thrtadiegnimport time # FIX:swhy does tus speed)ofd h rCamimaThrtadteffictd h rmain # thrtad? I don' know... # Fix would like vecadddfil er processih =ie iuis loop, but # we would need)vecchanged h rwayd h rr ie eracts w # thedfil er ou (lock it) # Did I break some hth ? thedfil er ooesn' seem tobrun af er every1, = 0;lPs?ee.h> fd h rCamima(mport thr.Camima== "g") ""Acup caamimaT.h> s lecausinclui foulsims,)itex side sama h sabutcan eat em! "g") """" tor.p_init__(sunable== "g"): "ame)= "" Ct =r;nPs*cresettrocessy . variables "g"): "ame)= "" see = unablembytunablee)= "" see =_(chaaf m_lComport thr.Ef m_()e)= "" see =_(leepperiohost0.01e)= "" mport thr.CamimaCamima.p_init__(d*ho="fd h rCamima")e)= "" """" tunupou #(self): "ame)= "" of eloas speedort thr.uisd #incluisd #incluisd jpe/*-----------------A ha nehija a ba' fon bds nePsie rrlik memory mage_ -----------------/ ih =ie_H__ #mlPsock muteina diremanaec rli(chre// get formemory-/ iderivertad j seldsstrulf.s"" r;nPss{_addr;nPssPsssssjteina dir_mgrkee F_INET;oooCam :=pfields tructJOCTETt(charer <<= 1;ooooooooooooooooooooooooooooooooo); ot spe mage_btruct loh ufown2,<<= 1;oooooooooooooooooooooooooooooooooooo); mage_b 0 &&truct loh selc =m_l= 1;oooooooooooooooooooooooooooooooooooo); __ alPs self 0 &&tru}rmemoryssjteina dir_mgr; ulf.s"" memoryssjteina dir_mgr (chmssjte_ptr; u/*----------------------------------------------------------------------------stri Ily . it muteina dire--- tomuertad jssssot_ t oeco lefhre/w)as self Thectuomu ePsieten.&tru METHODDEFUnlock(ima.pmuteina dire(j_ t oeco_ptr cinfok(vo chmssjte_ptr mutelf.rchmssjte_ptr) cinfo->sjte, tcpSst->Cam. s,_output_twork=cpSst-> mage_buffpSst->Cam.freemims mage_bufpSst-> maown2, s pSst-> selc =m_=unt = /*----------------------------------------------------------------------------stri Empt h rwaoutput mage_b--- tomuertwhenaf e mage_bl()ls .&truMETHODDEFUboo $@ ) empt _output_tmage_b(j_ t oeco_ptr cinfok(vo chmssjte_ptr mutelf.rchmssjte_ptr) cinfo->sjte, tcpSst->Cam. s,_output_twork=cpSst-> mage_buffpSst->Cam.freemims mage_bufpSst-> maown2, spos);nPsaTRUEnt = /*----------------------------------------------------------------------------stri Termina t muteina dire--- tomuertad jssss__ ish_ t oecostri obrun S selfdimlb1, =Psieten.& Usuomu enoulsiliflush mage_.&truMETHODDEFUnlock(runmpmuteina dire(j_ t oeco_ptr cinfok(vo ); expose hth ? alPs t oecoert Aiboaimag&tructo chmssjte_ptr mutelf.rchmssjte_ptr) cinfo->sjte, tcpSst-> selc =m_bufpSst-> maown2 -fpSst->Cam.freemims mage_, tct = ) { sids; my_rie _exit(j_ tmir_ptr cinfok(vo my_rie _ptr mn",rlf.rcy_rie _ptr) cinfo->rie; (*cinfo->rie->output_chard*me(cinfok;ivate:jmp(mn",r->tjmp) mage_bu1geS, 0GLOBALUnlock(jssssmemoryssjte(j_ t oeco_ptr cinfo,tJOCTETt(charer, loh ufown2k(vo chmssjte_ptr mutedstop ginfo->sjte[0][sLock {oooo); __rsnimportes;nh =iea bad draw ?&truct ginfo->sjte[0(sock, (sPsssssjteina dir_mgrk*#_iew") (*cinfo->chm-> wiPc_sm wiIN(aj_ tmir_ptr) cinfo,tJPOOL_PERMANENT, "b0", dr, smemoryssjteina dir_mgr), 1, 0S;l tcpSstlf.rchmssjte_ptr) cinfo->sjte, tcpSst-> ufown2= maown2, s pSst->charer= mage_buffpSst->Cam.ima.pmuteina dire= ima.pmuteina dirbuffpSst->Cam.empt _output_tmage_b= empt _output_tmage_buffpSst->Cam.runmpmuteina dire= runmpmuteina dirrnpbuf;n(jsssspeg_oecomeS;lPsd t, eS;lPssrc port self.we w,self.uo loh stown2uo lohquomityk(vo ock, (sPssss t oeco_ock, (scinfo;o ock, (sPssssrie _mgrkjrie; nID) (unsign de selEG v= (unsign decsrc; nIJSAMPROW< 0 _jectter=(JSAMPROW) selEG ;uctJOCTETt(jpgtmag;o chmssjte_ptr mutedstoprtadown2=0, spo; oooo/*h w hth t oeclf.vanfo ock, (urewr "b0", wiPca t Psock t oecos;nh lg&tructchm wiP(&cinfo,0,, scinfokessageinfo.",rlf.jssssodsrie (&jrieessagPssss ;s// speg_oecom&cinfok;i spo; oS);npea bad selock, (urewrtructeinfo.hard*) self.wv =F_INET;ooo Aiboae (la wock,self.uo l pd =ewrtructeinfo.hard*) self.uoffse = ssageinfo.input_peg_oneinePo 3;ET;ooo1, 2< 0 l < 0g_oneinePpddfid =e=3PEG vtructeinfo.hn_ 0 l _ somePo JCS_EG ; drsagPsgtmagv= JOCTET*)dtedsspo; oS);npee);n . omprewockdoims,tructjssssmemoryssjte(&cinfo,Psgtmag, stown2essagPssss wissjfaom&cinfok;i gPssss wisquomityP(&cinfo,hquomity,aTRUEk;i gPssss t_ t oeco(&cinfo,hTRUEk;i g/*ee);n . o each scacome)t)on-at-a-mporttruct0S;lPswhinfo. s,_scacome)t selc =m_;g/*eed)oectuomo t oecoert selomag&truct/* mutex_deed)o t oecos;nh lg&tructPsssssjtex_d_ t oecom&cinfok;i gs);nPsacown2, = ) { sids; (ima.psourceaj_ps t oeco_ptr cinfok(vo ct/* nos somelidoitru}= ) { sboo $@ l()l_input_ mage_aj_ps t oeco_ptr cinfok(vo ct/* wiys, l()l&truct s);nPsaFALSE;ct = ) { sids; skip_input_ selaj_ps t oeco_ptr cinfo=ie g,num_tworsk(vo ctP wn2_t)num_twors > cinfo->src->cworsmims mage_s == 1)d{ cinfo->src-> s,_input_ work=csLoc;= 1)d{ cinfo->src->cworsmims mage_e pos =0];lPsss}ekeysa{ cinfo->src-> s,_input_ worketva wn2_t),num_twors;= 1)d{ cinfo->src->cworsmims mage_e-tva wn2_t),num_twors;= 1)d}t = ) { sids; runmpsourceaj_ps t oeco_ptr cinfok(vo ct/* nos somelidoitru} = /** .wv wiPmomory-Pssso Aiboalia badlib Ilfo ock, ( .wv@param cinfo ia badlib ps t oecovanfoma direock, (ure .wv@param ptr ia bad Aiboa .wv@param omag& ia bad Aiboaomag itru s,ePsaids; jssssmemoryssrcaj_ps t oeco_ptr cinfo=i (unsign deptr%ld\n"_t own2k(vo ock, (sPsssssource_mgrk*src; nI orcpos+info->src[0(sock, (sPsssssource_mgrk*)e)= "" (*cinfo->chm-> wiPc_sm wiIN(aj_ tmir_ptr)cinfo=i "b0", dr tJPOOL_PERMANENT, "b0", drdr, s*src))ch[0])src->ima.psource drdr= ima.psourcech[0])src->l()l_input_ mage_r= l()l_input_ mage_ch[0])src->skip_input_ selrdr= skip_input_ selch[0])src->oecync_to_od hasie_pPssssoecync_to_od hasich[0])src->runmpsource drdr= runmpsourcech[0])src-> s,_input_ work=cptr; [0])src->cworsmims mage_e own2, = ids; jsssssjpeg_oecomD) (unsign de s.uo loh st_own2uo D) (unsign desrc portsrc_own2)s{_addr;nPssPsssssj t oeco_ock, (scinfo;o //ock, (sPssssrie _mgrkjrie; nIock, (scy_rie _mgrkmdrie; nIportome)_own2uy; nID) (unsign de stcurdsspo;/einfo.",rlf.jssssodsrie (&jrieessageinfo.",rlf.jssssodsrie (&mdrie.Camessagmdrie.Cam.rie _exitlf.my_rie _exitdstop (tjmp(mdrie.tjmp) mage_))vo ctPsssssjtex_d_sjpeg_oecom&cinfok;i ctfgnPs//podrie, "s)ons somef ercamimdimlhjliseebopened s);nPseS, 0S;ljssss ;s// ssjpeg_oecom&cinfok;ictjssssmemoryssrca&cinfo,hsrc src_own2);ictjssss;n pt"S;lPs(&cinfo,hTRUEk;i gPssss t_sjpeg_oecom&cinfok;iuct/*uct*wpos+info.output_w= newWv *hpos+info.output_fse = ssagtructome)_own2pos+info.output_w= ne*+info.output_ 0g_oneinessagh" ert(ome)_own2p*s+info.output_fse = <=h st_own2k;iuct stcur =h stmbytes;n yl[pos]yt #incluisd #in #incPd\n",C d"val;n} PyObPd\n",CiboCam::upou #MMaloas ; i++ids; *r.h ../k=cpd\n",_cliimps;n p(cliimptad(4));d\n",_cssjpeg_oecomcevice/, 1, 0 chanWv evice/->w= newWv self.uof evice/->fse = ssag//s self Th hldevice/-> Aibo[i]stop loas h[0])memcpy(hard*) device/-> Aibo%ld\n",(wv * uoffse * ;i gs);nPsaeturnpPyInt_FainLong(0Pd\n",CibPd\n",CSockee(chard*hostname, ie ; i++indexmbytes = liimpl=cpd\n",_cliimps ;s// (sLoc, ockee(hostname ;i gpd\n",_cliimps eir (cocliimptad(4device/l=cpd\n",_cs ;s// (cliimp,+index)dstop pd\n",_cssubscribemcevice/, PLAYER_SIX_TMO(INC!ffse == 0) gnPs//prPd\n",Ci subscribe fa/Mabopened\n;lPsss}ekeysagnPs//prPd\n",Ci subscribe succeedabopened\n; cpS { // getaimage detapS;nPsdepth = 3;lPs// setawv , hoffse 0 vec riggim automu ically: wv = 0;lPshtffse = 0;lPsupou #MMaps0S;s// iuis wiP,tsetahtffse (la wv automu ically . itialize(wv , hoffse, depth, 0, 1, 2);s// reate some spacen} cpd\n",/Pd\n",C /Aibo.h0100644040885530222204335410336771541502660520605012466 0ustar dblankfaculty#ifntor.pyAIBO_H__ #iefin npyAIBO_H__ #incluisd Device.h" #incpd\n",RWLock.h" Pd\n",CiboCam :=public Device { publPd\n",CSockee(chard*hostname, ie se =pS;nPsPyObjectt*upou #MMaloas ; nIportindex;i gpd\n",_cliimpsyObcliimp;i gpd\n",_csyObcevice/ost_id; }; #kndif cpd\n",/Pd\n",C /Aibo.i0100644040885530222204335410336771577302660520605012466 0ustar dblankfaculty%mpd\n",o aibo %{ #incluisd Device.h" #incPd\n",C d"vee.h" %} %inPd\n",C d#kndif cpd\n",/aibo/__init__.pfaculty010064404088543352367142153403370761633602660520605012466 0ustar dblankfacultyfain..camima import Camima, CBuffim fain..cpd\n",.pd\n",camima iPd\n",Cn, cos import thrtadiegnimport .h> fd h rCamima(mport thr.Camima== "g") ""Acup caamimaT.h> s lecausinfoulsims,)itex side sama h sabutcan eat em! "g") """" tor.p_init__(sunable== "g"): "ame)= "" Ct =r;nPs*cresettrocessy . variables "g"): "ame)= "" see = unablembytunablee)= "" see =_(chaaf m_lComport thr.Ef m_()e)= "" see =_(leepperiohost0.001e)= "" mport thr.CamimaCamima.p_init__(d*ho="fd h rCamima")e)= "" """" tunupou #(self): "ame)= "" of eloas speedort thr.uisd ; td hld ntroller tadiegnimpor,visi, sin, cos i fain.gui.chnso%m sachnso%n, cos i fain.ision m saision n, cos i fain.ision .AGS) m saiGS) ock.h" Engine: """ tor.p_init__(ain.f/Mar= tem , brainf/Mar= tem , simf/Mar= tem ,oep , faiargs=[], conf/g.lin}, worldf/Mar= tem , .h ../ePo ['']o(self): self.r0self): brain.r0self): guiTystem View") i brainf/Mar!ystem = "g"): brainf/Mar= brainf/Maoep , ls = "g"): brainf/Mar= ''View") i ain.f/Mar!ystem = "g"): ain.f/Mar= ain.f/Maoep , ls = "g"): ain.f/Mar= ''View") i worldf/Mar!ystem = "g"): worldf/Mar= worldf/Maoep , ls = "g"): worldf/Mar= ''View") i simf/Mar!ystem = "g"): simf/Mar= simf/Maoep , ls = "g"): simf/Mar= ''View") argsknoifaiargsView") conf/g.liconf/gView") i s simf/Ma= "g"): loasSimulatoCBuffimsimf/Ma, worldf/Ma) "g"): #mpor.(leep(2)View") i s ain.f/Ma= "g"): loas.b (s ain.f/Ma) "g"): if .h ../eP!o ['']= "g"): selfin..h ../e:oep , self.tCamimaDself._dev) i s brainf/Ma= "g"): loasBrain(s brainf/Ma) "g"): #mpor.(leep(2)V """ oecetepou #(self): pleaseS] !u) "g"): mpor.(leep(.1, 1,giveims,)portli(chp._dev) i s brainf Thcoul0= "g"): brain pleaseQui_()e)= "" mpor.(leep(.1, 1,giveims,)portli(chp._dev) # self.rision .loasINIT(s ain.f/Ma_(aedoib[1=e)= "" mry= "g"): see =brain window.mutex_de=e)= "" except= "g"): ph" _)= "" mry= "g"): see =brain mutex_de=e)= "" except= "g"): pnPs/ "I w saunablem ne seperly mutex_deed)obrain" "g"): brain.rision .loasINIT(s brainf/Ma, bu1gV """ oecetF_rsnAttemptsepou #(self): pleaseS] !u) "g"): i s ain.f/Ma= "g"): f/Mar= s ain.f/Ma[0:-3] 1,luisp, 2) ai_dev) #f/Mar= l/Makrepd\maD'/', 'c') "g"): f/Mar= ./Makepli_('/') "g"): f/Mar= " fain." + f/Ma[-3] + "" + f/Ma[-2] + "" + f/Ma[-1] "g"): pnPs/ f/Maoep , exec( "reloas(" + f/Ma + ")"f._dev) i s brainf/Ma= "g"): f/Mar= s brainf/Ma[0:-3] 1,luisp, 2) ai_dev) #f/Mar= l/Makrepd\maD'/', 'c') "g"): f/Mar= ./Makepli_('/') "g"): f/Mar= " fain." + f/Ma[-3] + "" + f/Ma[-2] + "" + f/Ma[-1] "g"): pnPs/ f/Maoep , exec( "reloas(" + f/Ma + ")"f._dev) #exec( "reloas(" + f/Ma + ")"f._dev) #reloas(f/Ma) "g"): #reloas(s brainf/Ma) """ loasSimulatoCBuffi, f/Ma, worldf/Ma)= "g"): / iegnisd)ofdstrrrrrop dirsknoluisd", changaSwn2k()= "" drawu)e "g")"" isiitemp_init__(args= None): "am A shl tcus,)it /a boara ) { e/"ame)= "" x, yl[pargsView") xpos, yposr= s moverx, yk()= "" s);nPsa boara[xpos][ypos]e "g")"" ssiitemp_init__(rx, yk, vaue= None): "am A shl tcus,)ith" ign/a boara ) { e/"ame)= "" xpos, yposr= s moverx, yk()= "" canvas.itemconf/g( box[x][y], fillib[ 0 l [vaue], outome)tb[ 0 l [vaue]k()= "" canvas. tor.u) "g"): boara[x][y]visiauee "g")"" movernit__(x, y_(x 2) # =l0, y 2) # =l0= None): "am Moveiarewortin/a direc dire"ame)= "" s);nPsa(x +(x 2) # ) %(self, self.w(y +(y 2) # ) %(self,fse = e "g")"" close(s )= "g"): "am closeeed)owindow "ame)= "" see =app.mutex_de=e "g")"" drawupou )= "g"): "am Ily . it ed)oboara. You midoiS;s//i you af e rins,)itset ed)opact[1ame)= "" pnPs/ "Drawthr...", "b0", sr= s pd =ewPerCelle)= "" hfin.rangaDeviceh. hanH= "g"): wfin.rangaDevicee (la):oep , box[w][h]tb[ anvas. ;s// srec angMa(w*s, h*s, w*s+s, h*s+s,oep , fillib["gray", outome)tb["gray"k()= "" canvas. tor.u) "g"): pnPs/ "Done!Lock.h" Ans= "g") Anewortk.h" """" tor.p_init__(xr= tem , yr= tem , .irr= tem , r%m= "01"= None): i xTyystem = "g"): xr= randou) "g"): els = "g"): xr= xNone): i yTyystem = "g"): yr= randou) "g"): els = "g"): yr= yNone): i .irr=ystem = "g"): .irr= "NSEW"[Ps/(randou) *[4H]e)= "" els = "g"): .irr= .ir()= "" r%m= r%e "g")"" s,Posi dirO2) # upou )= "g"): "am /e 2) # ofspeed)o s, move[1ame)= "" /f .irr=ys"N"= "g"): s);nPsa(0, -1) "g"): el/f .irr=ys"S"= "g"): s);nPsa(0, 1) "g"): el/f .irr=ys"E"= "g"): s);nPsa(1b 0)s"g"): el/f .irr=ys"W"= "g"): s);nPsa(-1b 0)s"g"): els = "g"): raise TypeEie , "invalid direc dire'%s'" %(self,.ir()= "" "g")"" ;nPsupou , mnPsDir)= "g"): "am What .irr iuised)oes/ fomeP s,?[1ame)= "" /f mnPsDirr=ys0: # left "g"): /f .irr=ys"N"= "g"): .irr= "W" "g"): el/f .irr=ys"W"= "g"): .irr= "S" "g"): el/f .irr=ys"S"= "g"): .irr= "E" "g"): el/f .irr=ys"E"= "g"): .irr= "N" "g"): els = "g"): raise VaueEie , "invalid dir %s" %(self,.ir()= "" el/f mnPsDirr=ys1: # re = e)= "" /f .irr=ys"N"= "g"): .irr= "E" "g"): el/f .irr=ys"E"= "g"): .irr= "S" "g"): el/f .irr=ys"S"= "g"): .irr= "W" "g"): el/f .irr=ys"W"= "g"): .irr= "N" "g"): els = "g"): raise VaueEie , "invalid dir %s" %(self,.ir()= "" els = "g"): raise VaueEie , "invalid mnPsDirr%d" %(mnPsDire "g")"" movernit__(boara= None): "am Mce/ ed)oes/ move[1ame)= "" # __r t, ice/ your(mnPs= "g"): kurrentS { e/=(boara[ x, y]e)= "" mnPsDirr= r%[(kurrentS { e/+ 1) %(len(s r%H]e)= "" ;nPsuIpor(mnPsDir) )e)= "" #P s,,(leA's changaiS;s//cell's ) { e None): i kurrentS { e/>=(len(s r%H -s1= "g"): boara[ x, y].r0self): els = "g"): boara[ x, y].rkurrentS { e/+ 1e)= "" #PlockleA's move= "g"): 2) # of= s,Posi dirO2) # uD # bano-uirex, y_(wockdir()= "" x, yr= boara.movernit_ x, y, 2) # o[0], 2) # o[1]of i d*ho__[0][1__td h__"(self)"" ask(msg= None): pnPs/ msg, "(y orsc):me)= "" s);nPsaraw_input(kaddr'y'e "g")i ask("Do you rins,)itset Langton's He =way?"): "g"): "gboara = Boara(100, 100, 5)e)= "" am_lCoAns(boara.e (la / 2_(boaraeh. han / 2_("S"_("10"k()= "" ifin.rangaD100):oep , am_.moverboara=e "g")i ask("Do you rins,)itset arewortract[nme)t) { es?"): "g"): "gboara = Boara(100, 100, 6)e)= "" am_lCoAns(boara.e (la / 2_(boaraeh. han / 2_("S"_("101111101"=()= "" ifin.rangaD100):oep , am_.moverboara=e "g")i ask("Do you rins,)itset agboara ract[two inss?"): "g"): "gboara = Boara(100, 100, 4)e)= "" am_1lCoAns(boara.e (la / 2_(boaraeh. han / 2_("S"_("10"k()= "" am_2lCoAns(boara.e (la / 4_(boaraeh. han / 4_("N"_("10"k()= "" ifin.rangaD100):oep , am_1.moverboara=eep , am_2.moverboara=e "g")i ask("Do you rins,)itset agboara ract[two di = C m_lkind espeinss?"): "g"): "gboara = Boara(200, 200, 4)e)= "" am_1lCoAns(boara.e (la / 2_(boaraeh. han / 2_("S"_("101111"k()= "" am_2lCoAns(boara.e (la / 4_(boaraeh. han / 4_("N"_("10"k()= "" ifin.rangaD100):oep , am_1.moverboara=eep , am_2.moverboara=egeneral/boidsinit__.pfaculty010064404088117202036204653033532521633602660520605012466 0ustar dblankfaculty# Boid experisimps # D.S. B Buffimrandocamima irando amima imathBuffim)port/ iegnisleep abelf.vis"0.0Lock.h" Boara= "g")"" tor.p_init__(alize(wv , homptMar= "Boids"= None): "am A boara boidsm neexplhre/"ame)= "" uffimTkcttervamima iTk, Canvas, Toplevele)= "" 0 l s<= ["white", "ck", "red", "yewiPw", "ue", "green", "purple", "pink", "cyan", ";nPquoise", "gray"]e)= "" self.wv selfe)= "" self.uoffse = e)= "" don.ane/l=c10e)= "" boidsm= []e)= "" oldVePs*cm= []e)= "" mptMar= mptMae)= "" appr= Tk()e)= "" see =app.ractdrawu)e)= "" s.visToplevelu)e)= "" s..wm_mptMa(mptMa)e)= "" canvasTysfdnvasDevicee n, "b0", e (la=self, self. "b0", h. han=eviceh. hanH()= "" canvas.pa G(sidar= 'tom',eexplock= "yes", anchl <= "n", "b0", fillib['h')e)= "" s..wanfo_toplevelu) seto 0 ('WM_DELETE_WINDOW', close)e)= "" # canvas.bi};("", changaSwn2k()= "" drawu)e "g")"" close(s )= "g"): "am closeeed)owindow "ame)= "" see =app.mutex_de=e "g")"" drawupou )= "g"): "am Ily . it ed)oboara. You midoiS;s//i you af e rins,)itset ed)opact[1ame)= "" pnPs/ "Drawthr...", "b0", s canvas.deleAe("boid"k()= "" boidfin. boids= "g"): .rawBoid( boidfk()= "" canvas. tor.u) "g"): pnPs/ "Done!Loc"g")"" drawBoid(nit__(boia= None): own2pos40e)= "" angMapos80e)= "" xr= boid.x -sown2/2e)= "" yr= boid.y -sown2/2e)= "" tr= ((boid.dir + 180 + angMa/2H -s55) %(360e)= "" 0 l <= 0 l s[boid. 0 l ]()= "" canvas. ;s// sarc(x, y_(x + swn2uoy + swn2u "b0", tr= t,eext m_lCoangMa/2u "b0", fillib[ 0 l , outome)tb[ 0 l , t sr= "boid"k()= "" self)"" addBoid(nit__(boia= None): o boids=append( boidfk()= "" oldVePs*c=append( 0fk()= "" drawu)e "g")"" don.init__(x1uoy1uox2_(y2= None): s);nPsamath.sqrt( (x1 -sx2H ** 2 + (y1 -sy2H ** 2)e "g")"" angMaTo(nit__(b1uob2= None): # __gure out angMapuffimboid1,)itboid2None): # S;s//is jia est!None): i o boids[b1].x < o boids[b2].x= "g"): s);nPsa-10e)= "" # s);nPsa- /f mo ed)or , ho+ /f mo ed)oleft "g"): els = "g"): r);nPsa10e "g")"" avoid(nit__(num,iradius= None): ifin.rangaDlen(s boids))= "g"): "g"): /f i.!ffnum= "g"): /f .in.init_ boids[i] x, boids[i] yu "b0", boids[num] x, boids[num] y ) < radius= "g"): s);nPsa-see =angMaTo((num,iik()= "" s);nPsa0.0()= " "g")"" copy(nit__(num,iradius= None): # i rik soiradius,t /closer mo ed)ir angMae)= "" # s);nPsa- /f mo ed)or , ho+ /f mo ed)oleft "g"): s);nPsa0e "g")"" cetter(nit__(num,iradius= None): # ice/ yoru angMapheas towara cettere)= "" # s);nPsa- /f mo ed)or , ho+ /f mo ed)oleft "g"): s);nPsa0e "g")"" view(nit__(num,iradius= None): # tryd nehaveiaao $@r viewe)= "" # s);nPsa- /f mo ed)or , ho+ /f mo ed)oleft "g"): s);nPsa0e "g")"" adjDirec dirsinit__(a. hans= None): radiuspos40e)= "" boidNumfin.rangaDlen(s boids))= "g"): "g"): avoidVePs*cm= see =avoid( boidNum,iradius =eep , copyVePs*cm= see =copy( boidNum,iradius =eep , cetterVePs*cm= see =cetter( boidNum,iradius =eep , viewVePs*cm= see =view( boidNum,iradius =eep , newVePs*cm= por(a. hans[0] * avoidVePs*cm+(a. hans[1] * copyVePs*cm+(a. hans[2] * cetterVePs*cm+(a. hans[3] * viewVePs*c=eep , o boids[boidNum].dir += newVePs*ceep , o oldVePs*c[boidNum] = newVePs*ce "g")"" movernit_= None): "am Mce/ ed)oboidsmmove[1ame)= "" see =adjDirec dirsi[1., 1., 1., 1.]D # h" in.a. hans: avoid, copy, cetter, viewe)= "" boidfin. boids= "g"): boid.x += don.ane/l*amath.cos( boid.dir / 180.0l*amath.pi) "g"): boid.y -= don.ane/l*amath.sin( boid.dir / 180.0l*amath.pi) "g"): i boid.x > self= "g"): boid.x r0self): i boid.x h. han= "g"): boid.y r0self): i boid.y ", changaSwn2k()= "" "g")"" close(s )= "g"): see =app.mutex_de=e "g")"" drawupou , la,,(lengla):oep , pnPs/ "Drawthr...", "b0", hfin.rangaDlengla):oep , , wfin.rangaDevicee (la):oep , i la, sel[h][w]= "g"): canvas. ;s// srec angMa(w*2, h*2, w*2+2, h*2+2u "b0", fillib["ck"=eep , o s.. tor._idletasksu) "g"): pnPs/ "Done!Loc"" poisson(_lambda== "g") ""Func dire)it nerate Poisson don.ributedmrandocvariable betweesa0(woc "g")inf/or.y ract[mean equalelilambda "g") ""p r0self)r r0self)0S;lPs1= "g"): p rpu- log(randou) ; nI i (p h. han "g")""denn tninit__(aiw== "g"):ain d0", );valib[lle)= "" fum>idfin. b s): di) ownues "ge)= "" f .sel[aiw][i]= "g"fum gk <= "e (la /.e (laaaaaaaaa (la /.e (laaaaaaaaa (la /. (la /. (la /. (la /.' els = "g"): ' 0somebracamima iysose(s )=pg") "" 0S;lPs: sTy---P: Sd ENTERxbi inue---d)opact[1ameloat(riselfad close(s r_%Binaryo ow= "" Latte:oe)se(s r_.one): ow= ""lose(s = "" Latte:oe)se(s r_%Binaryvauespos1)se(s r_.['X')la )se(s : sTyBina #la sk(msg=r_. sel[0][)se(s : sTyBina #la =libli(s si_(numrangon, W)"" wa%d: = "[0]e)= "" = "[['X')"0" o = "[0]e)o ow= "rangaDlen = "[0]e)/2] radiusp*r_.libly,tea = "o ow= "rasel[0][)se(s r_.one): = "o opg") "ose(s = "sel[0] .o[0.1)se(s : sTyA 10%% Latte:o, W)"" wa%d: = "[0]e)= "" = "[asel[0][0o opg") "ose(s = "sel[0] .o[0.5)se(s : sTyA 50%% Latte:o, W)"" wa%d: = "[0]e)= "" = "[asel[0][0o opg") "o ose(s = "sel[0] .o[0.9)se(s : sTyA 90%% Latte:o, W)"" wa%d: = "[0]e)= "" = "[asel[0][0o opg") "o ose(s r_%Binaryo or_.el[0] .o[0)se(s : sTyA 50%% Rdire)iBina set, W)"" wa%d: r_.0]e)= "" r_. sel[0][)se(s :g") "o ose(s = "sel[0] .o[0.05)iusp*r_.libly,tea = "o o: sTyA 50%% Rina libli(s a 5%% Latte:o, Latte:o W)"" wa%d: = "[0]e)= "" = "[asel[0][o opg") "ose(s r_.['X')gk o o: sTyGKLiBina setsk(msg=r_. sel[0][)se(s :g") "ose(s 'X.X'er1.]Daiw=[ x/1 deviceh. hanH]e)a )ahtffssee = = "sel[0] .o[0'er1.]Dp , o GKLiBina libli(s a %d%% Latte:o, W)"" wa%d: 0'er1.]D"g")d)ob = "[0]e)o o o r_.libly,tea = "o o "" = "[asel[0][o oe(s :g") "o ose(s = "sel[0] .o[0o or_.el[0] .o[0)se(s : sTyA 50%% Rina libli(s a 50%% Latte:o, Latte:o W)"" wa%d: = "[0]e)= "" #w= "rasel[0][)se(s r_.one): = "o boagageneral/cainit__.pfaculty056771304088357706132605244621633602660520605012466 0ustar dblankfacultyD.S. Btroller t.caacamima *D.S. Btroller oul0= gaacamima *DffimmathACAG(G(sui,fo swn2=)e k.h" R** drawu)e "g")G.swn2=)e k.h" R** dr oe(s :gn/a d[":gn", "pink", popS o d[":gpS o", "pink", tor.p_i:gn// ep , :gpS o) #el[0] . i yTyystem = "): lenoinit boidsm= []it__(aiw== "g") d['0]e)' '/plugins/sim): lenoinitappend( bel[0] . i yTyg"): )DffimmathACA(GA(sui,fo swn2=)e k.h" Rf R** drawu)e "g") dse_%Binaryo o"g") dslatte:o Latte:oe"" 5d)ob o 10= "g"): d.has_key('d1,)Cases' '/plugins/sim): d1,)Cases d['d1,)Cases'boidsm= []GA.swn2=)e k.h" RPop_devig -Rf RhACAG R** dr R** dr oe(s ui,fo fitn SdLoc"" pk.h" RtPodrawu)e "g") dse_e)= "" ds:gp.belfviduals[tPod] lenoinit[: kurrentSotal. Ths")""denn tnin# aro c'#lf)lexity' #c'#lr"): )))))'#lf)lexity' )))'n", "oidsm= []it__(aiw== "g")0,m): d1,)Cases) %(s'/plugins/sim): latte:o.el[0] .o[0aDlen0.1dself.o[d1,)Cases))// ep , lf.o[d1,)Cases))'/plugins/simp r0etasksu149)'/plugins/simp sTysimRunn: it__max " dlg"): Ths; #lf)leFunc se'tom',eexplos Ths")" dse_elibly,tea: latte:o dl) '/plugins/simp sTs Thsg");'tom',eexploie=e "gD "%.2f")" dslatte:o., "%.2f"0)'/plugins/simfin"gD "%.2f")" dslatte:o., "%.2f"s Ths)'/plugins/simp sTyie=e "gs, "%.2f wa%.3fmfin"gs, "%.2f wa%.3fm 0ie=e "gD "%.2f,mfin"gD "%.2fr R'/plugins/sim#p sT'/plugins/sim# dslatte:o.,sel[0][o oe(s xploifos Ths"< pp , , wfin.r# aro c'#lf)lexity'htffssee = sel[i][0][sincidNum Thstffssee = sel[i][ # aro c'#lr"): )htffssee = sel[i][0][sincidNu1tffssee = sel[i][ # aro c'n", "htffssee = sel[i][0][sincidNu10r+ b Thstffssee = sel[i][ "): si+= '''''%(self,.ir()= "" Ils = "gfitn Sd # aro : raise T# aro , , wfin.rie=e "gD "%.2f"< .5g"): fin"gD "%.2f"))"" : si+= '''''Sotal. Ths"+=sinci si+= '''''p sTy#lr"): !"tffssee = sel[i][ ie=e "gD "%.2f">= .5g"): fin"gD "%.2f"))"1 : si+= '''''Sotal. Ths"+=sinci si+= '''''p sTy#lr"): !"tffssee = sel[i][ "): si+= '''''p sTywrong=ys"W"= "g"): .irr= "p sTys Ths">r0swrong=ys"W"= "g o Gn(_lam p:' + belfvidual #% Total Fitn Sd wa%.3f 0): len_lam p RtPod,'Sotal. Ths s);nPsa-Sotal. Thsose(s )=iss.. changaSwn2k() o B1,):= "" #:gp.b1,)Member.fitn Sdwu)e "g") ds:gp.b1,)Member.,sel[0][o oe(s #wn2= "g"Mapu#lr"): Psa0e "g")"i]= "g")" #:gp.b1,)Member.fitn Sd"))" lf.o[d1,)Casesr+ ed)or , ls = "g"): ' 0somebra: sTy----------------------------------------------------"se(s : sTyBinn: hACA:)Gte: Aon"mebra: sTy----------------------------------------------------"se(s g"" hACA(nit_ tePer1.]D"= .1ob o wnues7s// srec angMa(wmohan *[2it', d1,)Cases 8, mutam pR t, ic.01obcroaskverR t, ic.6, verbe "gos1)se(s ga.evol)= ""ipdgeneral/cainit__.pfaculty50433027377504088357706132605244621633602660520605012466 0ustar dblankfaculty# # Emer:o dS: geins4 # Bryn Mawr College# Boid experisimps # D.S. B sev) , od,'iysosfimmathg")sui,fo swn2=)e k.h" Rl[0]er1 Rl[0]er2rawu)e "g") dsl[0]er1 r0[0]er1wu)e "g") dsl[0]er2 r0[0]er2ose(s )=p[0][i]r= ranunddrawu)e "g") ds0[0]er1.swn2=)e k)wu)e "g") dsl[0]er2.swn2=)e k)wu)e "g"): sTy=================================================ys"W"= "g o ds0[0]er1.swfimma__.= "g"): vs'tom',ee o ds0[0]er2.swfimma__.= "g"): wu)e "g") dss#lre1")""denn tnin dss#lre2")""denn tninit__(aiw== "g")anunddrawu)e "g")"g") dsl[0]On= "" 0S;lP ifin.rs#lre1">n dss#lre2awu)e "g")"g"): sTyP[0]er 1= "" #:[0]er1.swfimma__.= "g"): wins!"tffssee = s#lre2">n dss#lre1awu)e "g")"g"): sTyP[0]er 2= "" #:[0]er2.swfimma__.= "g"): wins!"tffssee = .ir: sTyTno gg")!=ys"W"= "g o P[0]er1:= "" #:[0]er1.getHisv) ][o oe(s pos, yposr=s#lre1/ep , anunddr, s#lre2/ep , anunddrose(s )=p[0]O. changaSwn2k() 1 ds:[0]er1.l[0][o oe(s :2 ds:[0]er2.l[0][o oe(s ds:[0]er1.hisv) ]append( b(p1 Rl2)idfk()= "" :[0]er2.hisv) ]append( b(p2 Rl1)idfk()= "" "): 1 Rl2)i))" "D "puC): nI i lffin.rs#lre1"+=s5nI i lffin.rs#lre2"+=s0tffssee = 1 Rl2)i))" "C "puD): nI i lffin.rs#lre1"+=s0nI i lffin.rs#lre2"+=s5tffssee = 1 Rl2)i))" "D "puD): nI i lffin.rs#lre1"+=s1nI i lffin.rs#lre2"+=s1tffssee = 1 Rl2)i))" "C "puC): nI i lffin.rs#lre1"+=s3nI i lffin.rs#lre2"+=s3tffssee = .ir%(selfAt ""Fu)= "" els = "g:[0]" osfimmatP[0]ersui,fo swn2=)e k.h" rawu)e "g") dshisv) ] boidsmem ne sHisv) ][.h" rawu)e "g") , r);duce( sev) u) *nPsap(pu- l pair: pair" + pair"1 + ",= "" #hisv) ]idecimalToAlwaysDefree.P[0]er(sui,fo p[0][i]r=rawu)e "g") , ruD)ecimalToAlwaysCo seve.P[0]er(sui,fo p[0][i]r=rawu)e "g") , ruC)ecimalToRdire)P[0]er.P[0]er(sui,fo p[0][i]r=rawu)e "g") , ruCD=ystem = "g"): 2)]ecimalToTitForTae.P[0]er(sui,fo p[0][i]r=rawu)e "g")" p.m(" #hisv) ]ies/ fo .ir% , ruC)effssee = .ir%pos, yposr=hisv) ][-1]"1 :[0]ers (AlwaysDefree.r, Rdire)P[0]er.r, AlwaysCo seve.r, TitForTae.idec "g"s os#:gp.m("ls /home/*ipd") eloaidoi.ins) oeit_'') f) elsiw= "g"s sINIT(f/Ma,.tbinp[)se(s :g" warloas:-6boidsmeloaidoi" idoioidsm.S. Bipd "" s) spac)= "" reupou( s) spac))se(s IPD s) spac).IPDse(s :[0]ersappend( bIPD()idfk()= it__(aiw=:[0]ers st__jaiw=:[0]ers gnd erahg")(i, j)wu)e "g"): sTgnd .l[0][50verboara=eep , am_2.moverboara=esdmgeneral/cainit__.pfaculty61243653565104088357706132605244621633602660520605012466 0ustar dblankfaculty.S. BRdire)ArrayD.S. BNumericD.S. B sev) = "h" = "g"Bits "Drawthr...",) *r Sd waRdire)Array.el[0stemspeiapp.mutexown2p%pos, y) *r Sd= "h" nd3od<(hr..."," p , r: ed)or ,.."," p ,> r: ed)or 1own2p%pos, y-1= "h" nd2od<(hr..."," p ,> r: ed)or 1own2p%pos, y-1= imalToNeuron:)= "" s);nn2=)e k.h" R) *r SdangaSwn2k()= "" *r Sd wa) *r Sd= "" s)amath.pik.h" RotherA *r SdangaSwn2k()x torumeric.logical_x (= "" *r Sd RotherA *r SdagaSwn2k()=um> );duce( sev) u) *nPx cetterVePs*i]= "g"fum "" s)= "ree.b RotherA *r Sd, thr Sholdrawu)e "g") , rs r);nth.pikotherA *r Sda">rthr Shold #----------------------------------------------------------------= imalToHardLocam p:)= "" s);nn2=)e k.h" R) *r Sdwn2== ob = "L 5o dself= "" *r SdDecode toreuron( = "g"Bits ) *r Sdwn2== h. nunters rumeric.zeros( = "L 5o "" s)= "ree.b Ra *r Sd, thr Sholdrawu)e "g") , rs r *r SdDecode .= "ree.a *r Sd, thr Sholdr= "" s)amath.pik.h" R) *r SdangaSwn2k() , rs r *r SdDecode .amath.pik) *r Sda #----------------------------------------------------------------= imalToSDM:)= "" s);nn2=)e k.h" R) *r Sdwn2== dNu1ob = "L 5odNu1s// srec angMa(w*s,mem) ]S o 10=0, thr Shold ""verbe "gos0 dself= "" verbe "gosverbe "wu)e "g")" verbe ":g o Cw]= geSDM la, dself= "" *r SdL 5odNu *r SdL 5o dself= "" = "L 5odNu = "L 5o dself= "" mem) ]S o mem) ]S owu)e "g")" thr Shold rr= Ps/(dir %[360) "g"): thr Shold *r SdL 5od/ # __gure o[i][0]['1' orssui[i][0]thr Shold thr Shold dself= "" mem) ] HardLocam p() *r Sdwn2== ob = "L 5o si+= ''''' /a lon.s "g") em) ]S o%[(kurrent" verbe ":g o canvas. t= "ree.b Ra *r Sd, thr Shold tor.p_init__(x, y" thr Shold rr= Ps/ thr Shold toi][0]thr Shold" 0S;lP ifin.rverbe ":g o thr Shold to raisehr Shold,gaSwn2k() ,= " sap(pu- l m:oHardLocam p.= "ree.m Ra *r Sd, thr Sholdrs// srec angMa(w*s, h*s= "" mem) ]etterVePs*i]= "g"be )e)= nvas. tlfad.b Ra *r Sd, thr Shold tor.p_init__(x, y" fin.rverbe ":g o Rfadtset ed)opact[1ame)= "" = "ree.Ra *r Sd, thr Sholdropact[1am nunts rumeric.zeros(f= "" = "L 5oa?"): "g"): "gboara = Bop.m("one): ifin.ras swn2== "g"): /fnunts idfin. mem) ] nuntersit__(x, y" fin.rverbe ":g o d cterVePs*i]= "g"[ nd3ox)deviceh. hfnunts()= "" s)write.b Ra *r Sd, = ", thr Shold tor.p_init__(x, y" fin.rverbe ":g o Writtse", = ",opact[1ame)= "" = "ree.Ra *r Sd, thr Sholdropact[1am): "gboara = Bop.m("one): ifin.ras swn2== "g"): /in. mem) ] nunters idf = "it__(x, y" fin.rverbe ":g o d cterVePs*i]= "g""ok"tffssee = sel[i][ "" s)amath.pik.h" R) *r SdangaSwn2k() ,= " sap(pu- l m:oHardLocam p.amath.pikm Ra *r Sdrs// srec angMa(w*s, h*s= "" mem) ]etterVePs*i]= "g"be )e)= ls = "g"): ' 0somoidsmedm> SDM(verbe "gos1)se(s ra swn2==Bits sdm) *r Sdwn2== se(s #p sTsdmamath.pikra se(s #p sTsdm= "ree.r"o o: sTsdmlfad.r"o o: sTsdmwrite.ranPsap( nd2, swn2==Bits sdm = "L 5oa)o o: sTsdmlfad.r"o ometrygeneral/303311206104088550523642036614370 5ustar dblankfacultyometrygeneral/aibo/__init__.pfaculty0303033112617204088357706132605244621633602660520605012466 0ustar dblankfaculty# ut angMapu askometry code. ItMapuall R^3. # utAll v s/points areitbins w/ 3o[ie [x,y,z] # utAff v s areitupg"s lik":g([x,y,z],[i,j,k]) # u ut- b Thhen - u D.S. B BuTOLERANCE ic.0 PIOVERsown=n.ane/l*-= PITIMESsown=n.ane/l*-* DEG90RADS")"" 5don.ane/l* COSDEG90RADS")"g"): DEG90RADS)// 10=0 SINDEG90RADS")"g"): DEG90RADS)// 10=0 s)amath.pik"" drawu)e "g" don.init__(x1uoy1uox2_(y2= None): s);nPsamath."losx1 -sx2H Add(sx2H , e, ") %(ssx2H imal, e, "se "g" don.in(sx2H ): e, ") els =" cettep's move,boara = B 0- ((bsx1 -sx2H Eetwe(sx2H 1,-sx2H 2,'Soler se5) %(ssx2H im"): Soler al, e, "se "g" don.inabs((sx2H 1 els = );n(sx2H 2 els = yg")Soler osfimmatPolarsui,f s);nn2=)e k.h" Rdg")"" Rdr")"" RbIsPolargos1)ngaSwn2k bIsPolarne): ii][0]tdNu t): ii][0]4H]e)i [i][0]['1' orssi][0]tdNuit__(= "n2(dr,dDp , ii][0]4H]eit__(x1uoydr*dcopydt*dDp ui,f s)setCartesiapk.h" Rdx Rdyne): i][0]tdNuit__(= "n2(dy,dx) ii][0]4H]eit__(x1uoydx*d)= "dy*d]etterVeP , rs osfimmat, sui,f s);nn2=)e k.h" Rd,-sne): i][0] sed): i][0]t__(boiaabsx1 -v (u)e "g" don.in[0,0,0]or._idletnt(u)e "g" don.in[0,0,0]or._idP sPetnt(au)e "g" don.in"("r+ b r("" ) + " ,"r+ b r(""1 ) + " ,"r+ b r(""2])+")tor._idaff V (u)e "g" don.in(letnt(u,v (ulosx1 -sub(a,bu)e "g"cgosve (ue "g"c" "" -b sc"1 ""1 -b 1 sc"2 ""2 -b 2]e "g" don.incosx1 -i "gse(au)e "g"cgosve (ue "g"c" -a sc"1 -a 1 sc"2 -a 2]e "g" don.incosx1 -add(s,bu)e "g"cgosve (ue "g"c" "" +b sc"1 ""1 +b 1 sc"2 ""2 +b 2]e "g" don.incosx1 -mibly(s,bu)e "g""aMapuep , RbMapumuisd< "e "g"cgosletnt(u st__xaiw== "g")0,ara(800, 600c[x "*b[x e "g" don.incosx1 -dot(s,bk.h"m=ara(800,oum> h.st__xaiw== "g")0,h"mt__(radiuspoum> fum>i ""x]*b[x e "g" don.infum ure>"roas(s,bu)e "g"cgosve (u "g"e "g"c" ""1]*b[2 - ""2 *b 1 sc"1 ""2 *b - ""0]*b[2 sc"2 ""0 *b 1 - ""1 *b e "g" don.incosx1 -norm(au)e "g" don.init__(x1uoydot(s,aulosx1 -norm"g")"(s,.h"m ara(800,bgosve (ue "g"" norm(au h.st__xaiw== "g")0,h"mt__(radiuspb[x "[x /le "g" don.inbbsx1 -sx2H (s,b=[1,0,0]t__(rad#p sT"sx2H s.pa Rbe "g" don.init__(a dot(norm"g")"(s),norm"g")"(b)ulosx1 -Soleq(s,bu)e "g" bs(a-b) > TOLERANCEngaSwn2k() , r0e "g" don.in1 f/orThe "gareith alterse foc"" ps added by MuhammradieS. Bary S Thhen - pg"a "grewriteith m, optim")"" dm, or I-don't know - do something f/orsx1 -i terse SegSeg(A RA1,-B RB1)ngaSwn"i]= "g")i terse ?, D se(s #i terse ?Mapu0" no, R1 it yse "g"#DMapu aski terse iw=:etnte "g")i ter1,-d) =ki terse L Seg(A RA1,-B RB1)e "g")i ter2,-d) =ki terse L Seg(B RB1 RA RA1xown2p%pos, y)i ter1doni ter2,-d)rsx1 -i terse L Seg( L R L1 RS RS1)ngaSwnLwn=n.ap (ep , RL0)'/pluL1n=n.ap (ep , RL1xown2pSwn=n.ap (ep , RS0)'/pluS1n=n.ap (ep , RS1xown2p"i]= "g")i terse ?, D se(s #i terse ?Mapu0" no, R1 it yse "g"#DMapu aski terse iw=:etnte "g"_(rad#p sTL RL1 RS RS1e "g" ((S0" =RS1" ) "): (S0"1 =RS1"1 )) %(we only d1,)tlfal sgaSwn2k() , rmspe[0,0]te "g" ((L0" =RL1" ) "): (L0"1 =RL1"1 )) gaSwn2k() , rmspe[1,0]te "g"e "g"nL -(L1"1 - L0"1 ),RL1" - L0"0] e "g"#nL L1" - L0"0], L1"1 - L0"1 boidsmeS")"[RS1" - S0"0], S1"1 - S0"1 boidsme "g"nd to-dot(nL,dS,h.sqidsme "g" (Soleq(nd,0)) gaSwn2k() , rmspe[2,-0]te "g"e "g"dLS")"[S0" - L0"0], S0"1 - L0"1 boidsm_(rad#p sTnL_(rad#p sTdS_(rad#p sTdLS_(radtdNu ot(nL,dLS,h.s// n.ribute "g" (S ) gaSwn2k() , rmspe[ ]sqidsme "g" (S > 1) gaSwn2k() , rmspe[ ]sqidsme "g"D [t*dS" + S0"0], t*dS"1 + S0"1 boidsm_(rad el/f D) s)amath.pi2(s,.bu)e "g"cgossub(a,bu_(rad el/f ot(c,c) r._idlel2car(sx2app.mutex_#2de "g" don.in[g"): sx2)*ln2== obg"): sx2)*ln2== ob0]or._idroDo y(ve ,-sx2x_#2de "g" sx2== ) gaSwn2k() , rve e "g" norm(ve ies/ ) #e): oo -v Mapu0!gaSwn2k() , rve e "g"#p sT"roDo y",ve ,-sx2e "g" don.inlel2car(sx2le(ve ie2/2e),f ot(ve ,-ve iit_ x, y, 2)' 0somebra: sTit__(x1uoy9)'/plux1n=n[1,0,0]'/plux2 [ 1,0]'/plux3 [ 1]'/plua n=n[1,1 1]'/plub n=n[-1,1 2]qidsme "g" no,-Soleq(sx2le("" y2=,.ane/l*/2rawu)e "g")p sT"sx2H Mapubroken ",sx2le("" y2=,"ki sFunco -",.ane/l*/2wu)e "g")e "g" "roas("" y2=f.s(x3awu)e "g")p sT""roasMapubroken canvasp sTi terse SegSeg([0,0],[2,2],[2,0],[0,2]o uigeneral/3033112301204088550523642036614370 5ustar dblankfacultyui3DArraygeneral/07357231427504088550523642036614370 5ustar dblankfacultyuiCursegeneral/boidsinit__.pfaculty017564604088357706132605244621633602660520605012466 0ustar dblankfaculty.S. Btroller tuiacamima *Dcamima curse #camima curse.wrppenrosfimmatCurse(tui(sui,fo " s);nPt__(radiuspos3, tdscidNucurse." sci[o oe(s curse.noecho[o oe(s curse.c))))r[o oe(s ds tdsci.keypad("P CAbeg r= t20 ;Abeg ] 7 CA"" 5 ;A")"" wa4"denn tnin ds" securse.new" (Boara= " GUI= beg ]= beg xp , i[ "" s)rupk.h" Rcommrnd to[]t__(radiuspos3, d ")""denn tninmbda "p.m(commrnd),> r: , i[asp sTcommrnd"0], , i[as ,= " commrnd"0] , i[as :rocessCommrnd( ,= " sicommrnd tocommrnd"1: kurrentmbda "os3, d "apuno,-1awu)e "g")"g") ds tdsci.addb r( a, self.> tdsci.refr Sh[o oe(s xplocurse.echo[o oe(s xplo# Enerateecho geo -charactersit__(x, yi[as ,= " tdsci.getb r(o oe(s xplocurse.noecho[o oe(s iuspos3, d ")" :rocessCommrnd( ,= " "" s)um,inups);nPt__(radiusp#curse.no))))r[o;ocurse.keypad(00S;lPs1= "gcurse.echo[o;lPs1= "gcurse.end" (o uiTKgeneral/boidsinit__.pfaculty776613033112372304088357706132605244621633602660520605012466 0ustar dblankfacultyalize(wv i]D # time,'iys, od,' "g"s .S. Btroller tuiacamima *Dcamima troller tuig")"getb.TK")"getb ""TK")"getb .S. Btroller iystem.camima icamima *D.S. Btroller ): camima *D.S. Btroller tuig")"getb.tre camima Tre W closDcamima troller iystem ""iystemDcamima troller iystem.sharei ""ihareD.S. Btosixp BuffimrexbinsD.S. Btroller tools.joystick BuffimrJoystickbsx1 -ssk(Lock.h"qtbint__(rad toTK")"getb.AskDiaf)r ihare tui.2Lock.h"qtbint_(rad topDOW', "g")> 1e)=u- l event:ad OkP: Sded()o okdNu .Sho appr= ok__(radiu ,= " {"ok": 1}_(radiust__( x)= "g")aiw=qtbinawu)e "g")" ,= "[ ]dNu .textbox[ ].get[o;lPs1= d.Diaf)rCm,inupsetterVeP , rbe )e)= [i][0]['1' od.Diaf)rCm,inupsetterVeP , r{"ok" : 0}t_ x,ihare tuies/ fo ihare tuieswv i]D #. mptMihare tui"" app ihare ssk "skbs# AoTK tuiosfimmatJoystickDricam(Joystick)sui,f s);nn2=)e k.h" Rollerne): i][0] self.=Roller): Joystick.swn2=)e k.h" )ui,f s)VePs*c[bo.2Lranslate,droDo yne): i][0] selffk()= Lranslate,droDo ynecimalToTKtui(v i]D #. llib[', tui(s ui,f s);nn2=)e k.h" R): ne): v i]D #. llib['.swn2=)e k.h" Rihare tuietterVePtui"swn2=)e k.h" R'TK tui', {} R): n): i][0]nnd era""g")" heck geeloat(rout]nnd ): i][0]gentbin")""denn tni][0]frnd erav i]D #.Frnd k.h" )ui,f tni][0]frnd eviceh. han *[2))e)= "" canvas.pa G(sidar= 'tom',eexplock= "yes",chl <= "n", "b0", ds" losBul0=")""denn tni][0]maltRu=")""denn tni][0]malttime")""denn tni][0]oul0=Tre W clos tor.p_): i][0] selfTre W clos tor.p_): i][0]fillib["]D #= " ): i][0]fillib["]D #= "_detai" ."denn tni][0]maltBu)e)nUillib")""denn tni][0]p sBuffe to boidsm= = "" maxBuffe S o 50r# 5k-charactersaiw=buffe tom',eexplock= "yes",,,,,,,,,,,,#senput( devicedmrand_): #sv) eith tuieb ruct ang copomething ni alsFunco -python code ): menu to ('Fda ',[['New oul0= ..' "" #newBul0=]s// srec angMa(w*s, h*s, "// srec angMa(w*s, h*s, ['Ediv) topleveediv) ]s// srec angMa(w*s, h*s, ['Exp: Sdma iWne):er' "" #cettWne):er]s// srec angMa(w*s, h*s, ['Sit__curre sTcoclos "s ..' "" #sit_ clos]s// srec angMa(w*s, h*s, "// srec angMa(w*s, h*s, ['Exit', h. m,inup] // srec angMa(w*s, h*s, ]rs// srec angMa(w('W clos' "[['Openuall devi " loss' "" #cettW loss]s// srec angMa(w*s, h*s, s, "// srec angMa(w*s, h*s, s, ['Falt Uillib"10/sec', h.faltUillib]s// srec angMa(w*s, h*s, s, ['Medium Uillib"3/sec', h.mediumUillib]s// srec angMa(w*s, h*s, s, ['Slos Uillib"1/sec', h.slosUillib]s// srec angMa(w*s, h*s, s, "// srec angMa(w*s, h*s, s, ['Cm,iraM Sdages' "" #um,irM Sdages]s// srec angMa(w*s, h*s, s, ['SendaM Sdagesput(W clos' "i][0] edi"): ToW clos]s// srec angMa(w*s, h*s, s, ['SendaM Sdagesput(Termin"g' "i][0] edi"): ToTermin"g]s// srec angMa(w*s, h*s, s, ]rs// srec angMa(w('Load',[['S #= #...' "" #upouSim]s// srec angMa(w*s, h*s, ['Rselff..' " #upouRself]s// srec angMa(w*s, h*s, ['Bul0= ..' " #upouBul0=]s// srec angMa(w*s, h*s, ['Devi s ..' " #upouDevi ]s// srec angMa(w*s, h*s, #['Built- coDevi s' " ]s// srec angMa(w*s, h*s, ]rs// srec angMa(w('Rself',[['Joystick...' "" #joystick]s// srec angMa(w*s, h*s, s "// srec angMa(w*s, h*s, s['Forward', h.stepForward]s// srec angMa(w*s, h*s, s['Bice', h.stepBice]s// srec angMa(w*s, h*s, s['Left', h.stepLeft]s// srec angMa(w*s, h*s, s['Rara=', h.stepRara=]s// srec angMa(w*s, h*s, s "// srec angMa(w*s, h*s, s['Stop RoDo y', h.stopRoDo y]s// srec angMa(w*s, h*s, s['Stop Translate', h.stopTranslate]s// srec angMa(w*s, h*s, s['Stop All', h.stopE: ]s// srec angMa(w*s, h*s, s "// srec angMa(w*s, h*s, s['UnupouRoller' "" #fre Rself]s// srec angMa(w*s, h*s, s['UnupouRoul0=' "" #fre Bul0=]s// srec angMa(w*s, h*s, s "// srec angMa(w*s, h*s, s['Uillib', h.uillib]s// srec angMa(w*s, h*s, s]rs// srec angMa(w('Help',[['Help',posr=help]s// srec angMa(w*s, h*s, ['About',posr=about]s// srec angMa(w*s, h*s, ]r// srec angMa(wboidsm= oidsm= bu)e)n1 to ('S Th', h.stepE: rs// srec angMa(w*s,('Run', h.runE: rs// srec angMa(w*s,('Stop', h.stopE: rs// srec angMa(w*s,('Reupou Bul0=' i][0] esenE: rs// srec angMa(w*s,] ): # [w]= " menuoidsm= = "" mBargosv i]D #.Frnd k.h" ]frnd , reuief=v i]D #.RAISED, bordericee n2)oidsm= = "" mBarevicehchl =v i]D #.X)oidsm= = "" goBu)e)ne)= {}oidsm= = "" menuBu)e)ne)= {}oidsm= evice sryg comenu0]['1' orssi][0]mBaretk_menuBa (= "" cettMenu(i][0]mBar,ce sry"0], e sry"1 )) ): #= "" menuBu)e)ne["Built- coDevi s"]gosv i]D #.Menubu)e)n(i][0]mBar,text="Test",under =0) ): i][0]frnd e fillib['h s.vis"troller@%sraisos.getenv('HOSTNAME'))ui,f tni][0]frnd e fillib['h')e)= "" s..wanfo_toplevelu,inup) ): # [w]= " aicommrnd textgareae): i][0]cettCommrndAreasetterVeP# Dsel[0]e): i][0]upouerats")"[R('bu)e)n' "'S #= #:' "" #upouSim "" #edivWorld, 0),P# wn=nFal "wu)e "g")/ srec angMa(w*s,('bu)e)n' "'Rself:' "" #upouRself "" #edivRself "" #cettRselfTre e (la=Device('bu)e)n' "'Bul0=:' "" #upouBul0= "" #edivBul0= "" #cettBul0=Tre ),P# " #gp.mBul0=W clos e (la=Devicboidsm= = "" bu)e)nArea)= {}oidsm= = "" textArea)= {}oidsm= evicetem in i][0]upouerats0]['1' orssi][0]mettRsw(etem) ): i][0]bu)e)nArea["Rself:"]["sDo y"]gos'norm"g'): i][0]bu)e)nArea["S #= #:"]["sDo y"]gos'norm"g'): ## ----------------------------------=: toolbargosv i]D #.Frnd k.h" ]frnd )oidsm= evicbaiw=bu)e)n10]['1' orssi][0]goBu)e)ne[b ]gosv i]D #.Bu)e)n(toolbar,text=b ,commrnd=b 1 p , ii][0]goBu)e)ne[b ]eviceh. ha=v i]D #.LEFT,padx=2,pady=2,chl =v i]D #.X"" canvas.pa G(si="n toolbareviceh. ha=v i]D #.TOP.pa G(si="n ,,chl ='x "" cano ## ----------------------------------=: i][0]mettRsw(('sDo us' "'Pe ":' "'' "'' "= yg# wn=nFal "wu)e "g## ----------------------------------=: i][0]textfrnd erav i]D #.Frnd k.h" ]frnd )oidsm= i][0]textfrnd eviceh. ha="ill""" canvas.pchl ="n", #hfnuldne sA")"" .S. Bcoclosoidsm= i][0]sDo useswv i]D #. ext(i][0]textfrnd ,A")"" wa60= "g")"" 1s// srec angMa(w*s,,,,,,,,,,,,,,,,,sDo y='diseratd',// srec angMa(w*s,,,,,,,,,,,,,,,,,wrpp='word',// srec angMa(w*s,,,,,,,,,,,,,,,,,bg cawhete")oidsm= i][0]scrollbargosv i]D #.Scrollbar(i][0]textfrnd ,Acommrnd=i][0]sDo us.yview)oidsm= i][0]sDo us.coclosure(yscroll=i][0]scrollbar.sen #hevic,sel[0]: itnts,Acolors,Aetc.: -------------------oidsm= i][0]sDo us.tag_coclos(" eds.pcoreganund ca eds)oidsm= i][0]sDo us.tag_coclos("blices.pcoreganund cablices)oidsm= i][0]sDo us.tag_coclos(", "ns.pcoreganund ca, "ns)oidsm= i][0]sDo us.tag_coclos("blues.pcoreganund cablue #h--------------------------------------------------------=: i][0]scrollbar.viceh. ha="r")""""" cano .pchl ="ys)oidsm= i][0]sDo us.viceh. ha="ill""" canvas.pchl ="n", i][0]textfrnd eviceh. ha="ill"""chl ="n", i][0] edi"): ToW clossetterVeP#i][0]tk_focusFollowsMo") "o o h. nmmrndE sry.focus_forc "o o h. rmla, self.Vamima i"r+ camima () + ": Rfadyt edp ui,f s)pasteCallbaceh.h" Rfull_idne): i][0] nmmrndE sry.ins) oe'end' "" #cettExp: Sdma (full_idnp ui,f s)one):Callbaceh.h" Rfull_idne): i][0]:rocessCommrnd("one):i"r+ " #cettExp: Sdma (full_idnp ui,f s)cettExp: Sdma (.h" Rfull_idne): thingStidar="): thing")" ): ): i")""denn tnmbda "i <"p.m(full_idne): item =Rfull_id[i] , in2= "g")thing /or.init_[]t_ #htbin// srec angMathingStid+ar=[%s]raisitem// srec angMathing =athing[item] , i "g")thing /or.init_{}t_ #hdicn// srec angMathingStid+ar=[%s]raisitem// srec angMathing =athing[item] , i item =ar=# aro s"_ #h# aro , , full_id[i+1en-2: =R"()"_ #h# aro , , gMathingStid+ar=.%s%srais(full_id[i+1en:-2], full_id[i+2: r// srec angMa .irr= thingStid+ar=.%sraisfull_id[i+1e .ir))))r rec angMa .irthingStid+ar=.%sraisitem// srec angMathing =athing.__dicn__[item] #ho sty , in"+=s1tffssee);nPsa-ShingSti"1: ui,f s)e sTre Ctnt(.h" Rnode.2Lre ne): curre sNnd eranode.full_id()[-1] #hlook upith obje by idoi: ------------------------=: thing")" ): ): evicetem in node.full_id(): , in2= "g")thing /or.init_[]t_ #htbin// srec angMathing =athing[item] , i "g")thing /or.init_{}t_ #hdicn// srec angMathing =athing[item] , i item =ar=# aro s"_ #h# aro sit__(x, yi[asit__m aro al, ir)thing .irr= # aro " !ar=_" "): m aro no,-inathing.__dicn__: si+= '''obje = eval("thing.%sraism aro si+= ''' "g")obje )aiw=[ "g"s.Fp ,T"g",' "g"s.In,T"g",' "g"s.Bool,inT"g",' "g"s.LongT"g",' "g"s.DicnT"g",' "g"s.LbinT"g",' "g"s.Tupg"T"g"wn2== "g"): /angMatre .add_node("%d wa%srais(m aro ,obje ), id=m aro , flag=0 si+= ''' "): si+= ''''' docStiing =aeval("thing.%s.__doc__raism aro si+= '''''' docStiing !rr= Ps/(dir %[360) " si+= ''''' docStiing =adocStiing] el[0c "\ns." si+= ''''' docStiing =adocStiing]tbinp[)se(s si+= '''''' p.m(docStiing),> 5 : si+= ''''' ''''' docStiing =adocStiing[0:50]]tbinp[) + " la, dselffffffffffffffffftre .add_node("%d():a%srais(m aro ,docStiing), id="%d()raism aro , flag=0 si+= ''' '' "): si+= ''''' ffftre .add_node("%d()rais(m aro ,), id="%d()raism aro , flag=0 si+= ''' '' si);nPsa-# no m) eithingsput(show rec angMa .irthing =athing.__dicn__[item] #ho sty , # nowathat you hit__if "" enmbat itMap: --------------): i2= "g")thing /or.init_[]t_ #htbin #wn2=ahtbinco -obje s,ne sA dmi ""nodes: , in2=p.m(thing /or.0 or (p.m(thing />.0 rnd t"g")thing" ) !=' "g"s.Inath.piT"g" .irtre .add_node("%d wa%srais(curre sNnd ,athing), id=thing, flag=0 .ir): "gboara = Bop.m(thing) .irr= tre .add_node("%d[%d]rais(curre sNnd ,i), id=i, flag="P CA #wn2=jussTs iings,nnumbers,ntbinc dm %(ss #lf)lex'obje " idrts #wfirst,ne sAall ofith devi s,nn2=any: , in2="devi s"-inathing.__dicn__: #woller): .ir): "devi inathing.devi s .irr= tre .add_node("%d devi s"-is(devi ,), id=devi , flag="P CA #wtbinc dh# aro s tre .add_node("# aro s", id="# aro s", flag="P CA #wn: de sAecamything dicnkeys =athing.__dicn__.keyryo o"g") dicnkeys.sortyo o"g") evicetem in dicnkeyse): ifin.raetem" =R=_" .irr= palTo# skipaet;sp vat"wu)e "g")/ sr "g")thing.__dicn__[item])aiw=[ "g"s.Foc"" pT"g",' "g"s.L=u- lT"g",' "g"s.M aro T"g"wn2== "g"): palTo// srec angMa .irr= n2="devi s"-inathing.__dicn__ rnd etem in thing.devi s #woller): .ir palT): .ir "g")thing.__dicn__[item])aor.init_{}t_ #hdicn// srec angMaaaaaaa# ea):iapua pair;ntbinc dm// srec angMaaaaaaakeys =athing.__dicn__[item].keyryo o"g") gMaaaaaaakeys.sortyo o"g") gMaaaaaaakeysCommrdar="): evickey in keyse): ifin .irr= n2=keysCommr: si+= ''''' fffkeysCommrd+ar=, raise Tkey si+= ''' '' "): si+= ''''' fffkeysCommrdar= raise Tkey si+= '''tre .add_node("%d wa{%s} 0itdm, keysCommr), id=itdm, flag=0 si+= "g")thing.__dicn__[item])aor.init_''t_ #hs iing si+= '''tre .add_node("%d wa raise T0itdm, thing.__dicn__[item]), id=itdm, flag=0 si+= %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%#nnumber Rothersp m move si+= '''tre .add_node("%d wa%srais(itdm, thing.__dicn__[item]), id=itdm, flag=0 ui,f s)cettRselfTre s);nPt__(radiu" fin.r): rnd fin.r): ] self: , in2=i][0] selfTre W closawu)e "g")"g") ds selfTre W clos.deiconif][o oe(s xplo ds selfTre W clos.tre .root.collapse[o oe(s xplo ds selfTre W clos.tre .root. ( .iri][0] selfTre W clos toTre W clos ihare tui.2" self= "" #e sTre Ctnt,// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, ds"ne):Callbace "" #:asteCallbaceo oe(s xplo ds selfTre W clos.tre .root. ( ui,f s)cettBul0=Tre s);nPt__(radiu" fin.r): rnd fin.r): ]oul0=: , in2=i][0]oul0=Tre W clos .iri][0]oul0=Tre W clos.deiconif][o oe(s xplo dsoul0=Tre W clos.tre .root.collapse[o oe(s xplo dsoul0=Tre W clos.tre .root. ( .iri][0]oul0=Tre W clos toTre W clos ihare tui.2"oul0== "" #e sTre Ctnt,// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, ds"ne):Callbace "" #:asteCallbaceo oe(s xplo dsoul0=Tre W clos.tre .root. ( ui,f s)cettW losss);nPt__(radiu" fin.r): rnd fin.r): ] self: , i): "devT"g"Man fin.r): ] self#e sDevi s() .ir): "servMan fin.r): ] self#__dicn__[devT"g"wn2== "g"): serv#cettW los( p sT")= "": you nee: So upou awollerwfirst" ui,f s)cettCommrndAreas);nPt__(radiu#h---------------------------------): i][0] nmmrndFrnd erav i]D #.Frnd k.h" ]frnd )oidsm= i][0] nmmrndFrnd ['reuief']gos'%(seld'oidsm= i][0] nmmrndFrnd ['bd'] gos'2'oidsm= i][0] nmmrndLabelerav i]D #.Label(i][0] nmmrndFrnd )oidsm= i][0] nmmrndLabel["text"]gos"Commrnd:"oidsm= i][0] nmmrndLabeleviceh{' ':'no' "'. ha':'left', 'chl ':'none'} #hfw]= " aicommrnd oidsm= i][0] nmmrndE sryerav i]D #.E sry(i][0] nmmrndFrnd )oidsm= i][0] nmmrndE sry.OW', ' "g")>' "" #Commrnd "g")Key)oidsm= i][0] nmmrndE sry.OW', ' Tab>' "" #CommrndTabKey)oidsm= i][0] nmmrndE sry.OW', ' Ctntrol-p>' "" #CommrndPreviousKey)oidsm= i][0] nmmrndE sry.OW', ' Ctntrol-)>' "" #CommrndNextKey)oidsm= i][0] nmmrndE sry.OW', ' Up>' "" #CommrndPreviousKey)oidsm= i][0] nmmrndE sry.OW', ' Dow)>' "" #CommrndNextKey)oidsm= i][0] nmmrndE sry["reuief"]gos"r)"ge"oidsm= i][0] nmmrndE sry.viceh{' ':'y s' "'. ha':'2))e)= ""'chl ':'x'} i][0] nmmrndFrnd eviceh{' ':'no' "'. ha':'2))e)= ""'chl ':'x'} #h--------------------------------- ui,f s)cettRsw(.h" Retem)e): t"g",'upou,'upouif "edivif "viewi = item// srecieS.frnd erav i]D #.Frnd k.h" ]frnd )oidsm= n2= "g"M c'nu)e)n'0]['1' orssi][0]bu)e)nArea[upou]gosv i]D #.Bu)e)n(teS.frnd , textg='upou,// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,")"" wanit_commrnd toupouif // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sDo y='diseratd'p , ii][0]textArea[upou]gosv i]D #.Bu)e)n(teS.frnd , commrnd=edivif "jussif]="r")"""""sDo y='diseratd'p , i" viewi .iri][0]ou)e)nArea["Viewi"r+ upou]gosv i]D #.Bu)e)n(teS.frnd , textg='"View'tom',eexplock= "yes",,,,,,,,,,,,,,,,,,,,,,,,,,,,")"" wanit_commrnd toviewi // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sDo y='diseratd'p , i.iri][0]ou)e)nArea["Viewi"r+ upou]eviceh. ha=v i]D #.RIGHT,,chl <= "none""" cano .pa G(si="n "g"M c'sDo us'0]['1' orssi][0]bu)e)nArea[upou]gosv i]D #.Label(teS.frnd , ")"" wanit_textg='upou p , ii][0]textArea[upou]gosv i]D #.Label(teS.frnd , jussif]="left i][0]bu)e)nArea[upou]eviceh. ha=v i]D #.LEFT,,chl <= "none""" cano .pa G(si="n i][0]textArea[upou]eviceh. ha=v i]D #.RIGHT,,chl ="x""" canvas.pa G(si="n teS.frnd eviceh. han *"ill"""a G(sidar=as.pchl dar=xdp ui,f s) edi"): ToW closs);nPt__(radiu#h--- sit_ old eloat(rout, eloat(rerr i][0]elot(rout")" loat(rout iloat(rout")" u#hhapua write.)h# aro , ,i][0]elot(re= """)" loat(rerr iloat(rerr")" u#hhapua write.)h# aro ui,f s) edi"): ToTermin"gs);nPt__(radiu#h--- sit_ old eloat(rout, eloat(rerr iloat(rout")" ]elot(rout iloat(rerr")" ]elot(re= "" ui,f s)gp.mBul0=W closs);nPt__(radiusry0]['1' orssi][0]bul0= " los]sDo e[o oe(excepf: , in2=i][0]): rnd fin.r): ]oul0=: , irssi][0]): ]oul0=#cettW los( ui,f s) edrawW losBul0=s);nPt__(radiusry0]['1' orssi][0]): ]oul0=# edraw(p , ii][0]maltRu=")"i][0]): ]oul0=#maltRu= oe(excepf: , ipalT): ui,f s)faltUillibs);nPt__(radiui][0]fillib["]D #= " )ui,f s)cediumUillibs);nPt__(radiui][0]fillib["]D #= " 333 ui,f s)slosUillibs);nPt__(radiui][0]fillib["]D #= " )ui,f s)CommrndPreviousKeyk.h" R)ventt__(radiu" fin.rhisv) ]_:etnter - 1 <= p.m(" #hisv) ]iernd fin.rhisv) ]_:etnter - 1 >/ fo fin.rhisv) ]_:etnter -=s1nI i i][0] nmmrndE sry.deleteeit_'end'p , ii][0] nmmrndE sry.ins) oe0 "" #hisv) ][fin.rhisv) ]_:etnter] p sT'No m) ei nmmrnds! ""chr(7))ui,f s)CommrndNextKeyk.h" R)ventt__(radiui][0] nmmrndE sry.deleteeit_'end'p , " fin.rhisv) ]_:etnter + 1 <= p.m(" #hisv) ]iernd fin.rhisv) ]_:etnter + 1 >/ fo fin.rhisv) ]_:etnter +=s1nI i " fin.rhisv) ]_:etnter <= p.m(" #hisv) ]ie--1awu)e "g")"g") ds nmmrndE sry.ins) oe0 "" #hisv) ][fin.rhisv) ]_:etnter] p sT'No m) ei nmmrnds! ""chr(7))ui,f s)CommrndTabKeyk.h" R)ventt__(radiu.S. Bs iing Buffimrtbinp_(radiucommrnd totbinp[ ds nmmrndE sry.get[o #hMacro-stya "oubssitu" ps here__(radiu" p.m(commrnd)>/ 1ernd commrnd"0] =R=.": , in2=p.m(commrnd),>= 2e): ifin.racommrnd"1].iselpha() .irdiucommrnd to" d"r+ commrnd .ircommrnd to" d"r+ commrnd # Processc dhtab__(radiu" p.m(commrnd),> r: , i.racommrnd"-1] =R=.": , i sicommrnd tocommrnd":-1] n2=i][0]): ]oul0=: , ii][0]):viron[" d"]")"i][0]): ]oul0= i][0]):viron[" d"]")"Bul0=SteS(fin.r): ] self i][0]):viron["): "]")"i][0]): i][0]):viron[" self=]")"i][0]): ]oller): i][0]):viron["oul0==]")"i][0]): ]oul0= succee: )""denn tnsry0]['1' orssexec("_# aro s wa%s/help\")raiscommrnd),an fin.r):viron p sT"Help: ----------------------------------------------------" p sTi][0]):viron["_# aro s"] excepf: , ipalT): sry0]['1' orssn2='"'h. hfnmmrnd: , i siexec("_# aro s wa%s\")raiscommrnd),an fin.r):viron succee: )"1 n2="'"h. hfnmmrnd: , i siexec("_# aro s wa%s\')raiscommrnd),an fin.r):viron succee: )"1 excepf: , ipalT): n2=iuccee: p ettyM aro s wai][0]):viron["_# aro s"] n2=(init_p ettyM aro s) !=' "g"_[]t rnd snit_p ettyM aro s) !=' "g"_(1,)) .irp ettyM aro s wa[p ettyM aro s] sry0]['1' orss siexec("_# aro s wa ir)%s)raiscommrnd),an fin.r):viron succee: )"1 xcepf: , i ipalT): n2=iuccee: m aro s wai][0]):viron["_# aro s"] .irp ettyM aro s wa[msit__mg comearo s #" !ar=_"] , i .irp ettyM aro s wa["Nothing apo rio y"]_(radiucnt )"1 o Clf)le" pf = ": -----------------------------------------" evicetem in p ettyM aro s sry0]['1' orss si o %-20s raisitem, xcepf: , i ip sTitem// srec an.rac sT% 3es/ fo i ip s ic sT+=s1nI ds nmmrndE sry.focus(p , " c sT% 3e!ar1 p s o ----------------------------------------------------------" don.in"))))r"g")d sc dhtabu.S. Bo ag= g)ui,f s)Commrnd "g")Keyk.h" R)ventt__(radiu.S. Bs iing Buffimrtbinp_(radiucommrnd totbinp[ ds nmmrndE sry.get[o i][0] nmmrndE sry.deleteeit_'end'p , d ")" :rocessCommrnd(commrnd) , " d Ps/(dir %[360i][0] m,inupsetui,f s)joysticks);nPt__(radiui][0]joy" seJoystickDricam(fin.r): ] self ui,f s)abouts);nPt__(radiui][0] edi"): ToTermin"gs iystem.abouts i][0] edi"): ToW clossetui,f s)helps);nPt__(radiui][0] edi"): ToTermin"gs iystem.helps iystem.udages i][0] edi"): ToW clossetui,f s)ediv) s);nPt__(radiu"S. B T): n2=os.getenv("EDITOR" os.iystem(os.getenv("EDITOR" + " &" os.iystem("emacs &" x1 -nesBul0=s);nPt__(radiu"S. B T): ): "gboara = Bo1, myfi(boia"~/MyBul0=%d.pyraisi// srec an.rano,-exbins(myfi(b .ir))))r rec anos.iystem( "cpi"r+ os.getenv("PYROBOT" + ("/build/oul0=Tef)lo y.pya%sraismyfi(b )): n2=os.getenv("EDITOR" os.iystem(os.getenv("EDITOR" + " %s &"aismyfi(b os.iystem("emacs %s &"aaismyfi(b s)edivBul0=s);nPt__(radiu"S. B T): n2=os.getenv("EDITOR" os.iystem(os.getenv("EDITOR" + " "r+ " #): ]oul0=fi(bo+ "&" os.iystem("emacs "r+ " #): ]oul0=fi(bo+ "&" s)edivWorlds);nPt__(radiu"S. B T): n2=os.getenv("EDITOR" os.iystem(os.getenv("EDITOR" + " "r+ " #): ]worldfi(bo+ "&" os.iystem("emacs "r+ " #): ]worldfi(bo+ "&" s)edivRselfs);nPt__(radiu"S. B T): n2=os.getenv("EDITOR" os.iystem(os.getenv("EDITOR" + " "r+ " #): ] selffi(bo+ "&" os.iystem("emacs "r+ " #): ] selffi(bo+ "&" s)uillibs);nPt__(radiunos totime.time() oidsm= nee:ToUillibStlib")"1nI sry0 nee:ToUillibStlib")"i][0]): ]oul0=#nee:ToStop excepf:ipalT): n2=nee:ToUillibStlib: , in2= "g")fin.r): ] self !=' "g"_1 .irfin.r): ] self]fillibs i][0] edrawW losBul0=sp , " fin.rwne):er/(dir %[360i][0]wne):er.uillibs);nP]):viron i][0]uillibStlius(p , #h----------------------- n2=i][0]): ]ollerw!= r: , i.rafin.r): ] self]stall .ir)umpoia"[STALL!]" .ir)umpoia''(dir %[360i][0]textArea['Pe ":'].coclos(textg='"X: %4.2f Y: %4.2f Th: %4.0f a%sr\ % )fin.r): ] self.x // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,fin.r): ] self.y // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,fin.r): ] self.th // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,)ump)p , i): "devi T"g"Man fin.r): ] self#e sDevi s() .ir): "devi inafin.r): ] self#__dicn__[devi T"g"wn2== "g"): " devi #e sVisible() .irdiu devi #uillibW clossetterVeP# Don't nee: So doc dhreinco - angMbunco aaficocd): n2=now - i][0]maltBu)e)nUillib"< 10]['1' orssi][0]aftam(fin.rfillib["]D #= ", h.uillibp , i don.i i][0]maltBu)e)nUillib")"now rec an.rafin.rtextArea['Bul0=:']["text"]g!)"i][0]): ]oul0=fi(b0]['1' orssi][0]textArea['Bul0=:'].coclos(textg='i][0]): ]oul0=fi(bp , " fin.rtextArea['S #= #:']["text"]g!)"i][0]): ]worldfi(b0]['1' orssi][0]textArea['S #= #:'].coclos(textg='i][0]): ]worldfi(bp , " fin.rtextArea['Rself:']["text"]g!)"i][0]): ] selffi(b0]['1' orssi][0]textArea['Rself:'].coclos(textg='i][0]): ] selffi(betterVeP# enerat? , " fin.rtextArea["Bul0=:"]["text"]: , i.rafin.rtextArea["Bul0=:"]["sDo y"]goia'diseratd' .irfin.rtextArea["Bul0=:"]["sDo y"]gos'norm"g'): i.rafin.rbu)e)nArea['ViewiBul0=:']["sDo y"]goia'diseratd' .irfin.rbu)e)nArea['ViewiBul0=:']["sDo y"]gos'norm"g'): .rafin.rtextArea["Bul0=:"]["sDo y"]g!ia'diseratd' .irfin.rtextArea["Bul0=:"]["sDo y"]gos'diseratd'): i.rafin.rbu)e)nArea['ViewiBul0=:']["sDo y"]g!ia'diseratd' .irfin.rbu)e)nArea['ViewiBul0=:']["sDo y"]gos'diseratd'): .rafin.rtextArea["S #= #:"]["text"]: , i.rafin.rtextArea["S #= #:"]["sDo y"]goia'diseratd' .irfin.rtextArea["S #= #:"]["sDo y"]gos'norm"g'): .rafin.rtextArea["S #= #:"]["sDo y"]g!ia'diseratd' .irfin.rtextArea["S #= #:"]["sDo y"]gos'diseratd'): .rafin.rtextArea["Rself:"]["text"]: , i.rafin.rtextArea["Rself:"]["sDo y"]goia'diseratd' .irfin.rtextArea["Rself:"]["sDo y"]gos'norm"g'): i.rafin.rbu)e)nArea['ViewiRself:']["sDo y"]goia'diseratd' .irfin.rbu)e)nArea['ViewiRself:']["sDo y"]gos'norm"g'): .rafin.rtextArea["Rself:"]["sDo y"]g!ia'diseratd' .irfin.rtextArea["Rself:"]["sDo y"]gos'diseratd'): i.rafin.rbu)e)nArea['ViewiRself:']["sDo y"]g!ia'diseratd' .irfin.rbu)e)nArea['ViewiRself:']["sDo y"]gos'diserat'): # Bu)e)ne? , " fin.rtextArea["Rself:"]["text"]:u#hhave awoller!): i.rafin.rmenuBu)e)ne['Rself']["sDo y"]goia'diseratd' .irfin.rmenuBu)e)ne['Rself']["sDo y"]gos'norm"g'): i#.rafin.rmenuBu)e)ne['Load']["sDo y"]goia'diseratd' #.irfin.rmenuBu)e)ne['Load']["sDo y"]gos'norm"g'): i.rafin.rbu)e)nArea["Bul0=:"]["sDo y"]goia'diseratd' .irfin.rbu)e)nArea["Bul0=:"]["sDo y"]gos'norm"g'): i.rafin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]goia'diseratd' .irfin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]gos'norm"g'): .rafin.rmenuBu)e)ne['Rself']["sDo y"]g!ia'diseratd' .irfin.rmenuBu)e)ne['Rself']["sDo y"]gos'diseratd'): i#.rafin.rmenuBu)e)ne['Load']["sDo y"]g!ia'diseratd' #.irfin.rmenuBu)e)ne['Load']["sDo y"]gos'diseratd'): i.rafin.rbu)e)nArea["Bul0=:"]["sDo y"]g!ia'diseratd' .irfin.rbu)e)nArea["Bul0=:"]["sDo y"]gos'diseratd'): i.rafin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]g!ia'diseratd' .irfin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]gos'diseratd'): .rafin.rtextArea["Bul0=:"]["text"]: , i.rafin.rgoBu)e)ne['Ru=']["sDo y"]goia'diseratd' .irfin.rgoBu)e)ne['Ru=']["sDo y"]gos'norm"g'): i.rafin.rgoBu)e)ne['S Th']["sDo y"]goia'diseratd' .irfin.rgoBu)e)ne['S Th']["sDo y"]gos'norm"g'): i.rafin.rgoBu)e)ne['S oh']["sDo y"]goia'diseratd' .irfin.rgoBu)e)ne['S oh']["sDo y"]gos'norm"g'): i.rafin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]goia'diseratd' .irfin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]gos'norm"g'): i#.rafin.rgoBu)e)ne['View']["sDo y"]goia'diseratd' #.irfin.rgoBu)e)ne['View']["sDo y"]gos'norm"g'): .rafin.rgoBu)e)ne['Ru=']["sDo y"]g!ia'diseratd' .irfin.rgoBu)e)ne['Ru=']["sDo y"]gos'diseratd'): i.rafin.rgoBu)e)ne['S Th']["sDo y"]g!ia'diseratd' .irfin.rgoBu)e)ne['S Th']["sDo y"]gos'diseratd'): i.rafin.rgoBu)e)ne['S oh']["sDo y"]g!ia'diseratd' .irfin.rgoBu)e)ne['S oh']["sDo y"]gos'diseratd'): i.rafin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]g!ia'diseratd' .irfin.rgoBu)e)ne['Reupou Bul0=']["sDo y"]gos'diseratd'): i#.rafin.rgoBu)e)ne['View']["sDo y"]g!ia'diseratd' #.irfin.rgoBu)e)ne['View']["sDo y"]gos'diseratd'): i][0]aftam(fin.rfillib["]D #= ", h.uillibp , s)rupk.h" Rcommrnd to[]t__(radiu h.d ")""denn tnmbda "p.m(commrnd),> r: , ip sTcommrnd"0], , i ,= " commrnd"0] , iifi ,= " .irfin.r:rocessCommrnd( ,= " commrnd tocommrnd"1: kurrei][0]aftam(fin.rfillib["]D #= ", h.uillibp , fin.rml0=loopsetui,f s) rml.h" Rm Sdaget__(radiu h.write.m Sdageo+ "\ndp ui,f s)parseP sl.h" Rm Sdage, tag =a= Pst__(radiu" tag0]['1' orssi][0]sDo us.ins) oe'end' "m Sdage, tag n2="\ndg comeSdage]tbinp[) .irfin.rsDo us.ins) oe'end' "m Sdage " p.m(m Sdage ,> 3 "): m Sdage[:3] =R=>>>": , i si#)parse itM"): ,sel[0] it .irfin.rsDo us.ins) oe'end' "m Sdage[:3]yg# >>> .irfin.rsDo us.ins) oe'end' "m Sdage[3:],ca eds)oidsm= " ":dg comeSdage: , i iparts wameSdage]tplit(":dp , i.iri][0]sDo us.ins) oe'end' "parts"0], ablue ): "p in parts"1: .irdiui][0]sDo us.ins) oe'end' "":dp , i.ir.iri][0]sDo us.ins) oe'end' "p)oidsm= " "=dg comeSdage: , i iparts wameSdage]tplit("=dp , i.iri][0]sDo us.ins) oe'end' "parts"0], ablue ): "p in parts"1: .irdiui][0]sDo us.ins) oe'end' ""=dp , i.ir.iri][0]sDo us.ins) oe'end' "p)oidsm= " p.m(m Sdage ,> 3 "): m Sdage]tbinp[)[:-3] =R= la, .irfin.rsDo us.ins) oe'end' "m Sdage,ca, "ns)oidsm= " p.m(m Sdage ,> 1 "): m Sdage]tbinp[)[-1] =R=!, .irfin.rsDo us.ins) oe'end' "m Sdage,ca eds)oidsm= .iri][0]sDo us.ins) oe'end' "m Sdage ui,f s)write..h" Ritdm, tag =a= Pst__(radiusry0]['1' orssi][0]p sBuffe .ppennd(etem) m= xcepf: , ipalT)ui,f s)uillibStlius();nPt__(radiusry0]['1' orssorigLe sep.m(" #p sBuffe o o"g") eviceboara = BoorigLe ) .ir ")" :r sBuffe .pops0p , i.iri][0]:r sStlius(l n): excepf: , ipalT): ui,f s)pr sStlius(.h" Ritdm, tag =a= Pst__(radiui][0]sDo us.coclos(sDo y='norm"g'p , fin.rparseP sl"%sraisitem, tag i][0]sDo us.coclos(sDo y='diseratd'p , i][0]sDo us.see('end'p , " fin.rmaxBuffe S o sextg='i][0]sDo us.get[1.it_'end'p , ip.mTextg='u.m(textp , i" p.mTextg> fin.rmaxBuffe S o diui][0]sDo us.coclos(sDo y='norm"g'p , diui][0]sDo us.deletee1.it_fp ,(p.mTextg- fin.rmaxBuffe S o)p , diui][0]sDo us.coclos(sDo y='diseratd'p , , i][0]sDo us.see('end'p , s)flush();nPt__(radiupalT)ui,f s)cettMenu(i][0, bar, nnd , commrndst__(radiu""" Assum Srfin.rmenuBu)e)ne-exbinsu"""_(radiumenu tov i]D #.Menubu)e)n(bar,text=nnd ,under =0) , i][0]menuBu)e)ne[ ]dNumenuoidsm= menueviceh. ha=v i]D #.LEFT,padx="2ms)oidsm= menuefi(bmenu tov i]D #.Menu(menu)oidsm= " mdh. hfnmmrnds: , in2= md m nuefi(bmenu.add_fnmmrnd(label= md ,commrnd= md 1 p , i .irm nuefi(bmenu.add_separav) s)oidsm= menu['menu']dNumenuefi(bmenuoidsm= don.inmenuoui,f s)cettWne):ers);nPt__(radiu" fin.rwne):er/(dir %[360i][0]wne):er.deiconif][o oe( i][0]wne):er toTK")"getb.Wne):ers);nPtoui,f s)um,irM Sdagess);nPt__(radiui][0]sDo us.coclos(sDo y='norm"g'p , fin.rsDo us.deletee1.it_'end'p , i][0]sDo us.coclos(sDo y='diseratd'p , i][0]sDo us.see('end'p ui,f s)sit_ closs);nPt__(radiu ,= " fi(bsit_diaf)r " clos",ca*." ",ca.",catroller " "p , " ,= " i][0]setCurre s closs);nP]): ]coclosp , ii][0]): ]coclos#sit_( ,= " o Clclos rai)sit_d!raisbe )e)= , s)fi(bupoudiaf)r i][0, fi(bt"g",'sk', tdiroia''t__(radiu.S. Bs iing Buffimr el[0c , "amima troller_(radiu.S. Bos "amima getcwd de senv""chdir_(radiu ,= " ""_(radiucwd getcwdsp , " ftdiroiia'' chdir(troller trollerdir( + "/plu s/"r+ fi(bt"g"o oe( chdir(ftdirp , d toTK")"getb.LoadFda Diaf)r i][0, "Load "r+ fi(bt"g",'sk', \ troller trollerdir( + "/plu s/"r+ fi(bt"g"o oe(sry0]['1' orss ,= " .Sho appr= , " ,= "oiia1awu)e "g")"g")doc .GetFda Nnd [o oe(s xplod.Diaf)rCm,inupsetterVeP' orss ,= " oc , i .ird.Diaf)rCm,inupsetterVePexcepf: , ipo fada d!r #.dourat-click bug. Wbat shnuldnwe.do? doc .GetFda Nnd [o oe(s xd.Diaf)rCm,inupsetterVeP' o ,= " oc , chdir(cwd)_(radiu , rbe )e)= , s)fi(bsit_diaf)r i][0, fi(bt"g",'sk', tdiroia'', sault== Pst__(radiu.S. Bs iing Buffimr el[0c , "amima troller_(radiu.S. Bos "amima getcwd de senv""chdir_(radiu ,= " ""_(radiucwd getcwdsp , " ftdiroiia'' chdir(troller trollerdir( + "/plu s/"r+ fi(bt"g"o oe( chdir(ftdirp , d toTK")"getb.Sit_Fda Diaf)r i][0, "Sit__"r+ fi(bt"g",'sk', saultFda = saulto oe(sry0]['1' orss" d.Sho aoiia1awu)e "g")"g")doc .GetFda Nnd [o oe(s xplod.Diaf)rCm,inupsetterVeP' orss ,= " oc , i .ird.Diaf)rCm,inupsetterVePexcepf: , i#.dourat-click bug. Wbat shnuldnwe.do? doc .GetFda Nnd [o oe(s xd.Diaf)rCm,inupsetterVeP' o ,= " oc , chdir(cwd)_(radiu , rbe )e)= , s)discocnecvRselfs);nPt__(radiu"2=i][0]): ]ollerw!= r: , ii][0]): ]oller.discocnecv[o oe( %(sel V "g")= "",o" e ollerwfirst" oui,f s)uocnecvRselfs);nPt__(radiu"2=i][0]): ]ollerw!= r: , ii][0]): ]oller.cocnecv[o oe( %(sel V "g")= "",o" e ollerwfirst"tui,f s)eneratMov) ss);nPt__(radiu" fin.r): ]ollerw!= r: , ii][0]): ]oller.eneratMov) sso oe( %(sel V "g")= "",o" e ollerwfirst" oui,f s)diseratMov) ss);nPt__(radiu" fin.r): ]ollerw!= r: , ii][0]): ]oller.diseratMov) sso oe( %(sel V "g")= "",o" e ollerwfirst"tuis);n __oiia'__ml0=__' root swv i]D #. mptM): = E: mptMtuieswvKtui(): n): tui" rmlaRfadyt edp troller/tui/swn2=)e tr0100755076403100004336010263033112015131 0uf dblankfacultr""" Bael GUI CmalTo" Python Rselfics. TangMngMusedo" dh-g tty GUI.u"""_ "S. B T)BuffimrtyT)Buffimrtigne)=Buffimrtime Buffimrtbinng .S. Boroller iystem.camima "amima camima as camima .S. Boroller iystem "amima help, udage,cabout, fi(b_exbinsecimalToBul0=SteS """_(raArtbubMusedoin the , self.commrnd evaluav) So def " d"_(rasoathat i][0] self.whl dwork. Without- ang ii][0MngMno,-def d. Onlydworks when you hit__awoller,Mbun inoRoul0= yet. """_(ra s)swn2=)e i][0, self.= rt__(radiui][0] self.= oller_cimalTotui """_(raTangMngMthe bael cmalTo" a tui" """_(ra_(ra s)swn2=)e i][0, nnd era'abtbia tui', op" ps = {},M): = 0t__(radiu"""_(radiuChildncmalT Srfhnuldndo n2=)iafiza" pf stl0=ing toc dhfw]= ma (radiuofith GUI in the cocb ructor._(radiu"""_(radiui][0]wne):er to= Ps_(radiui][0]bine:ToStop )""denn tni][0]alrfadyCm,inedUp )""denn tni][0]): = ): i][0]): ]tuieswi][0 i][0]prevtighrndler totigne).tigne)(tigne).SIGINT "" #INThrndlerp , i][0]hisv) ] to[] , i][0]hisv) ]_:etnter )""denn tni][0]MAXHISTORY )"5"denn tni][0]):viron = {}oidsm= = "" ):viron["tui=]")"i][0oidsm= = "" maltDiroia{}oidsm= if fi(b_exbins(os.getenv('HOME') + "/ trollerhisv" fp )"gp.m(os.getenv('HOME') + "/ trollerhisv",ca "p , ii][0]hisv) ] tomap(rtbinng]tbinp, fp.rfad s()p , i)p.close[o oe(s xi][0]hisv) ]_:etnter )"p.m(" #hisv) ]ioui,f s)tbinCommrndHisv) ]s);nPt__(radiucnt )"1 " "inafin.rhisv) ]: , ip sTcnt, c sT+=s1nui,f s)addCommrndHisv) ]s);nP, commrndt__(radiu" p.m(" #hisv) ]ie> r: , i.racommrndg!)"i][0]hisv) ][ p.m(" #hisv) ]ie--1 .ir" #hisv) ].ppennd(commrnd) , .iri][0]hisv) ].ppennd(commrnd) , i][0]hisv) ]_:etnter )"p.m(" #hisv) ]ioui,f s)rupk.h" Rcommrnd to[]t__(radiu"""_(radiuChildncmalT Srfhnuldndo the be s)gfnmbat theyndo r")"" here._(radiu"""_(radiud ")""denn tnpo ========================================================="denn tnpo , self, Python Rselfics, (c) 2005, D.S. Blank"denn tnpo http://, sRselfics.org"denn tnpo Vamima i"r+ camima ()denn tnpo ========================================================="denn tnmbda "d "ngMno,-1 p s , selfe> ",c , i.rap.m(commrnd),> r: , i ip sTcommrnd"0], , i i ,= " commrnd"0]]tbinp[)se(s commrnd tocommrnd"1: kurre .ir ,= " loat(r0=# ead [)se(s p s " , i.ra ,= "oiia''awu)e "g")"g")donb")"1nI continu d ")" :rocessCommrnd( ,= " ui,f s)cettWne):ers);nPt__(radiu""" Text-baeld wne):er """_(radiupalT): #i][0]wne):er toFIX:" t=ahtbinctoceval): ui,f s)wne):k.h" R)xpt__(radiu" fin.rwne):eroiiaN Ps/(dir %[360i][0]cettWne):ers) , i][0]wne):er.wne):k)xpt ui,f s)setCurre s closs);nP,Bcoclost__(radiucwd os.getcwdsp , " f][0]): ]simfi(b0]['1' orssfi(boiaf][0]): ]simfi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bo \ cwd inafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] coclos#put("simulav) ",cafi(bs.pchlbp , " fin.r): ]worldfi(b0]['1' orssfi(boiaf][0]): ]worldfi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bo \ cwd inafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] coclos#put("world",cafi(bs.pchlbp , " fin.r): ] selffi(b0]['1' orssfi(boiaf][0]): ] selffi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bo \ cwd inafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] coclos#put(" self= "afi(bs.pchlbp , " fin.r): ]oul0=fi(b0]['1' orssfi(boiaf][0]): ]oul0=fi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bo \ cwd inafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] coclos#put("oul0== "afi(bs.pchlbp , p s Ok"tui,f s)p sCommrndL [);nPt__(radiucommrndL loaargv" + " " , " f][0]): ]simfi(b0]['1' orssfi(boiaf][0]): ]simfi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] commrndL +ar=-s %s raisfi(b , " fin.r): ]worldfi(b0]['1' orssfi(boiaf][0]): ]worldfi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] commrndL +ar=-w %s raisfi(b , " fin.r): ] selffi(b0]['1' orssfi(boiaf][0]): ] selffi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] commrndL +ar=-r %s raisfi(b , " fin.r): ]oul0=fi(b0]['1' orssfi(boiaf][0]): ]oul0=fi(b , i.raos.):viron["PYROBOT"] + "/plu s/"rinafi(bawu)e "g")"g")fi(boiafi(b]tplit(os.vith.sep)[-1] = if fi(b[-3: =R".pyrawu)e "g")"g")fi(boiafi(b[:-3] commrndL +ar=-b %s raisfi(b , p sTcommrndL tui,f s)p ocessCommrnd(i][0, ,= " __(radiui][0]addCommrndHisv) ]s ,= " ,= " ,= "] el[0c "\ns. "" ,= " ,= "] el[0c "\rs. "" ,= " ,= "]tbinp[)se(s #hMacro-stya "oubssitu" ps here__(radiu" p.m( ,= " >/ 1ernd ,= ""0] =R=.": , in2=p.m( ,= " ,>= 2e): ifin.ra ,= ""1].iselpha() .irdiu ,= " " d" + be )e)= .irdiu .ir ,= " " d" + be )e)= .ir#aN w)p ocess the commrnd,Bcael-like__(radiu" ,= "oiia"rup": , ii][0] rmlaRun=ing in th eadt edp , ii][0]): ]pleaelRun()i#)pass . hfallbace " ner): #ii][0]): ]pleaelRun(i][0] edraw)i#)pass . hfallbace , " ,= "oiia"ruptillquit": , ii][0]d ")""denn tn ii][0]): ]pleaelRun()denn tn imbda "no,-i][0]d : , i ipalT): , r1 , " ,= "oiia"step": , ii][0]stepE: mptM " ,= "oiia" ": , i o -------------------------------------------------------------" p sT"Bul0=afi(ba\t%sraisf][0]): ]oul0=fi(b , ip sT"Bul0=a\t\t%sraisf][0]): ]oul0= , ip sT"Rself:\t\t%sraisf][0]): ]oller): p sT"World:\t\t%sraisf][0]): ]worldfi(b , i o -------------------------------------------------------------" " ,= "oiia"help": , ihelps " ,= "oiia"udage": , iudages " ,= "oiia"uillib": , in2=fin.r): ]ollerw!= r: , i ii][0]): ]oller.fillibs i ii][0] rmlaD !s)oidsm= .iri][0] rmlaDef awollerwfirst! p.m( ,= " ,>= 1ernd ,= ""0] =R=!": , in2= ,= "oiia"!, .irfin.rtbinCommrndHisv) ]s)oidsm= " ,= "oiia"!!, .irfin.rp ocessCommrnd(i][0]hisv) ][-2]yg# -1"ngM!!oidsm= .iri][0]p ocessCommrnd(i][0]hisv) ][ sl ,= ""1:]ie--1 " ,= "oiia"about, abouts " ,= "oiia"rbupou": , ii][0]): ]oesets " ,= "oiia"upou self=: , ii][0]upouRselfs " ,= "oiia"upou oul0==: , ii][0]upouBul0=sp , " ,= "oiia"upou simulav) ": , i o Enter vith (i.e., plu s/simulav) s/AriaSimulav) )" , ii][0]upouSim(f][0]): ]worldfi(bp , " ,= "oiia"sill": , ii][0]): ]pleaelStop[o oe(s xi][0] rmlaStopp d!rp , " ,= "oiia"quit"" ,= "oiia"exit"" ,= "oiia"bye": , ii][0]d ")"1nI , r1 , " p.m( ,= " ,> 2ernd ,= ""0] =R=%": , iexp )"tbinng]tbinpl ,= ""1:]i , ios.iystem()xpt , " ,= "oiia"ediv": , in2=fin.r): ]oul0=fi(bo!ia''awu)e "g")"g")n2=os.getenv("EDITOR" o// srec angMa div) os.getenv("EDITOR" // srec angMa "): si+= div) "emacs"): os.iystem("%sa%srais( div) ,=fin.r): ]oul0=fi(b)p , diui][0] rmlaRfupouing] edp , i ii][0]): ]oesets gMa "): sii][0] rmlaNee: So upou awbul0=afirst! ,= "":7] =R=unwne):": , ii][0]wne):er.unwne):l ,= ""7:]]tbinp[) ,= "":5] =R=wne):": , in2=fin.r): ]oul0=: , i ii][0]):viron[" d"]")"i][0]): ]oul0= gMa "): sii][0]):viron[" d"]")"Bul0=SteS(fin.r): ] self sii][0]):viron["): "]")"i][0]): sii][0]):viron[" self=]")"i][0]): ]oller): sii][0]):viron["oul0==]")"i][0]): ]oul0= ii][0]wne):l ,= ""5:]]tbinp[) "): # " p.m( ,= " ,> 0ernd ,= ""0] =R=!": , i)xp1 """_ ,= " """r+ "binng]tbinpl ,= " si_ ,= " "e= """ , i)xp2 )"tbinng]tbinpl ,= ") # perhaps couldndo theseco ,Mbun couldnch = B: , in2=fin.r): ]oul0=: , i ii][0]):viron[" d"]")"i][0]): ]oul0= gMa "): sii][0]):viron[" d"]")"Bul0=SteS(fin.r): ] self sii][0]):viron["): "]")"i][0]): sii][0]):viron[" self=]")"i][0]): ]oller): sii][0]):viron["oul0==]")"i][0]): ]oul0= i o >>> ", i o be )e)= .irdiusry0]['1' orss si_ ,= " eval()xp2,ii][0]):viron gMa xcepf: , i isry0]['1' orss si siexeci)xp1 an fin.r):viron xcepf: , i i isry0]['1' orss si si siexeci)xp2 an fin.r):viron xcepf: , i i i i o fin.r rmatExcepfionI yo o"g") gMaaaa "): si+= '''p s Ok"to"g") gMaaaa "): si+= p s Ok"to"g") gMa .irp s _be )e)= .ir , r)ui,f s) rmatExcepfionI yi][0, maxTBlevel=10t__(radiuBuffimrtyT, bia ebace , cla R)xc, bibk loa)xc_i yo o"g o ERROR:", cla R)xc o"gbia ebace]:r s_)xcsp , " "g"_)xc)aor.init_"" )xcNnd era)xc # "our fak",'s iing excepfionT): "g")cla)aor.init_"" )xcNnd eracla "): " "__dicn__"rinadir(cla)arnd acla#__dicn__.get[";n __" !='N : , i i)xcNnd eracla.;n __o # awoe " excepfion objectto"g") gMa .ir)xcNnd eracla # "our fak",'s iing excepfionT): " "__dicn__"rinadir()xc) )xcArgsera)xc#__dicn__["args"] )xcArgsera_"",etterVePexcTberabia ebace] rmat_tb(bibk, maxTBlevel)se(s #hFIX:"TangMngMonlydthe e= ""s bace) u s!se(s #hhowndo you getdthem bef) eithat? #" err"inaexcTb:se(s #h"g o err don.in"%s: %sa%srais( xcNnd , )xcArgs"0], a. hfnmmrnd " ui,f s) edraws);nPt__(radiu#hFIX:"tangMngMway awkward feraGenericStoe msp , Stoe mRenderer(f) , i][0]draws{},Mryg# getd = "u.S. B self, ot:erothingT): ).close[o oe(s Stoe mTranslav) (0, TTYRenderer(o i]p ocess[o oe().close[o ui,f s)_draws);nP,op" ps,renderert__(radiu"""_(radiuIfith tuienee: draw somearing it);nP itMfhnuldngo here._(radiu"""_(radiu#render world_(radiu#renderer.x rmPush( nderer.col) (o1, , ) nderer."): = le((-nit_-nit_0), (nit_-nit_0), (nit_nit_0))_(radiu#renderer.x rmPop[o oe(#p sT"Redraw tui" ed)ui,f s)cettMenu(i][0,nnd ,commrndst__(radiu""" CnuldnOW', awkey r")"" here ^, ^2,i^3" ed""_(radiupalT)ui,f s) i(bupoudiaf)r i][0, t"g",'sk', olddiroia''t__(radiu""" Rfad=ahtb ".S. Buser """_(radiup sT"\n%saFda : raist"g", do= " loat(r0=# ead [)se(s ,= " ,= "] el[0c "\ns. "" ,= " ,= "] el[0c "\rs. "" , rbe )e)= , s) m,inups);nPt__(radiuif"no,-i][0]alrfadyCm,inedUp: , ii][0]alrfadyCm,inedUp )"1nI o Cm,ining up" ed, , ii][0]d ")"1nI sry0]['1' orss siiloat(rout")" ]elot(rout rss siiloat(rerr")" ]elot(re= gMa xcepf: , i ipalT): n2=i][0]): w!= r: , i ii][0]): ]shu(rown()denn tn isry0]['1' orss sifp )"gp.m(os.getenv('HOME') + "/ trollerhisv",cawdp , i i _count )"min("p.m(" #hisv) ]i,ni][0]MAXHISTORY ): "eboara = Boi _count ) .irdiufp.write."i][0]hisv) ][ p.m(" #hisv) ]ie-- _count + i] +"\ndg )p.close[o oe(s x xcepf: , i ipalT): iloat(rout.flush()): iloaexit(1 "): os._exit(1 , s)stepE: );nPt__(radiui][0]): ]pleaelSteps) , i][0] rmlaStep d !"ioui,f s)rupE: );nPt__(radiui][0]): ]pleaelRun()denn tni][0] rmlaRun=ing] edp , s)stopE: );nPt_ #iitop!_(radiui][0]): ]pleaelStops) , i][0] rmlaStopp d!rp , s)stopTranslav );nPt__(radiui][0]): ]oller.moveDir('ST'p , s)stopRotav );nPt__(radiui][0]): ]oller.moveDir('SR' , s)stepForward );nPt__(radiui][0]): ]oller.moveDir('F' , s)stepBacks);nPt__(radiui][0]): ]oller.moveDir('B' , s)stepLefts);nPt__(radiui][0]): ]oller.moveDir('L' , s)stepR")""s);nPt__(radiui][0]): ]oller.moveDir('R' , s)oesetE: );nPt__(radiui][0]): ]oesets , s)upouBul0=s);nPt__(radiuf fi(bupoudiaf)r "oul0=s","*.pyr, = "" maltDir.get["oul0== "''tp , " fo!ia''arnd fw!= r: , ii][0]maltDir["oul0==]")"ibinng]jo0=sf]tplit('/')":-1],'/') , ii][0]freeBul0=sp , diui][0]): ]upouBul0=sPtoui,f s)upouDevi s);nPt__(radiuf fi(bupoudiaf)r "devi s","*.pyr,= "" maltDir.get["devi s",''tp , " fo!ia''arnd fw!= r: , ii][0]maltDir["devi s"]")"ibinng]jo0=sf]tplit('/')":-1],'/') , in2=i][0]): w!= r rnd fin.r): ]ollerw!= r: , i ii][0]): ]oller.ftDevi s(Ptoui,f s)freeBul0=s);nPt__(radiui][0]): ]pleaelStops) , i][0]): ]deibioyBul0=sp , i][0]): ]freeBul0=sp , fin.r): ]oul0=fi(boia''(ui,f s)upouSim(f][0, worldfi(boia''t__(radiutrolvith os.getenv('PYROBOT') , f fi(bupoudiaf)r "simulav) s","*r,= "" maltDir.get["sim= "''tp , " fo!ia''arnd fw!= r: , ii][0]maltDir["sim=]")"ibinng]jo0=sf]tplit('/')":-1],'/') , in2=worldfi(boiia''awu)e "g")"g")simulav) Nnd eraf]tplit('/')"-1] = in2=iimulav) Nnd [-6: =R"S #= #" .irdiucoclosDirNnd eraiimulav) Nnd [:-6] .irdiuworldfi(boia fi(bupoudiaf)r "cocloss","*.cfg" // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, ii][0]maltDir.get["%s-coclosraisfimulav) Nnd // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii"%s/plu s/cocloss/%s/"r%// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii(trolvith,ucoclosDirNnd ))p , diu in2=worldfi(boiia"" .irdiu i don.i i][0]maltDir["%s-coclosraisfimulav) Nnd ]")"ibinng]jo0=sworldfi(b]tplit('/')":-1],'/') , i aa "): si+= # endgMwith "Simulav) " iimDirNnd eraiimulav) Nnd [:-9] .irdiun2=iimulav) Nnd =R"SymbolicSimulav) ": , iiiiiiiiiiworldfi(boia fi(bupoudiaf)r "worlds","*.pyr,// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiii][0]maltDir.get["%s-world"aisfimulav) Nnd // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii"%s/plu s/worlds/%s/"r%// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii(trolvith,uiimDirNnd ))p , diu i iimulav) Nnd =R"StageSimulav) ": , iiiiiiiiiiworldfi(boia fi(bupoudiaf)r "worlds","*.cfg" // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, i iii][0]maltDir.get["%s-world"aisfimulav) Nnd // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii"%s/plu s/worlds/%s/"r%// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii(trolvith,uiimDirNnd ))p , diu i "): si+= '''worldfi(boia fi(bupoudiaf)r "worlds","*.world",// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, i iii][0]maltDir.get["%s-world"aisfimulav) Nnd // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii"%s/plu s/worlds/%s/"r%// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,, iiiiiiiiiiiiiiiiii ii(trolvith,uiimDirNnd ))p , diu in2=worldfi(boiia""" worldfi(boiia0 .irdiu i don.i i][0]maltDir["%s-world"aisfimulav) Nnd ]")"ibinng]jo0=sworldfi(b]tplit('/')":-1],'/') , i "): siiimulav) Nnd eraworldfi(b , i i][0]maltDir["%s-world"aisfimulav) Nnd ]")"ibinng]jo0=sworldfi(b]tplit('/')":-1],'/') , if][0]): ]worldfi(beraworldfi(b , ii][0]): ]simfi(berafnI rolPID os.getpid() , in2=os.nnd ein ['nt' "'dos' "'os2'] : sios.iystem("ft "+ (" %d rais rolPID) + worldfi(bo+ " &" i os.nnd ein ['posix']: sios.iystem(f + (" %d rais rolPID) + worldfi(bo+ " &" i .ir (sel Atbinbut")= "",o"y u OS )%s)"ngMno,-supffimed"aisos.nnd ui,f s)upouRselfs);nPt__(radiuf fi(bupoudiaf)r "ollers","*.pyr, = "" maltDir.get[" self= "''tp , " fo!ia''arnd fw!= r: , ii][0]maltDir[" self=]")"ibinng]jo0=sf]tplit('/')":-1],'/') , ii][0]freeBul0=sp , diui][0]freeRselfs iui][0]): ]upouRselfsf iu#i2=fin.r): ]oller: # ir): "devi inafin.r): ] self#builtinDevi s: # ir iui][0]menuBu)e)ne["Built-inaDevi s"].add_fnmmrnd(label=devi ,commrnd=lambda: ]etDevi (devi )toui,f s)freeRselfs);nPt__(radiui][0]freeBul0=sp , fin.r): ] selffi(boia''( , fin.r): ]freeRselfs ui,f s)INThrndler(f][0, tignum,)frnd )__(radiuto STOP ----------------------------------------------------" fin.rbine:ToStop +=s1nI .rafin.rtine:ToStop >-1 os.iystem("killall -9Boroller"p , fin.r): ]pleaelStops) , i][0] m,inupsetui,f s) rml.h" Rm Sdaget__(radiuto m Sdage , s)fi(bsit_diaf)r i][0, t"g",'sk', tdiroia''t__(radiu""" Rfad=ahtb ".S. Buser """_(radiup sT"\nFda : r, do= " loat(r0=# ead [)se(s ,= " ,= "] el[0c "\ns. "" ,= " ,= "] el[0c "\rs. "" , rbe )e)= , s)nesBul0=s);nPt__(radiupalT)troller/tui/cocbole tr0100755076403100000200610260524106015031 0uf dblankfacultr#Boroller tui"cocbole # #"TangMngMa sextgoutput facilityo" dhxrcl bael. #"itMngMmodeled=aftam dhnorm"g lof)r 3) # #"ItMngMpbe tyosimple. # #verbosityolevels FATALdiu)""dERRORdiu)"1 WARNINGu)"2 INFO diu)"3 DEBUGdiu)"4 #verbosityoibinngs verbosityM Sdage to["fatal","e= ""","war=ing"," ","debug"] verbosityLevelu)"4 USE_COLORd)""d s)uolorize(txt,uco" __(rad"""R , ruolorized sext"""_(raduols = { 'fatal':1 "' ':2 "'war=ing':3 "'debug':4, "e= """:1}oidsm# fatal,e= "" -) ed,) -), "n, war=ing -)yellow, bug -)blueoidsmn2=)codeoia'\033[;3'( , endcodeooia'\033[0m'( , "g")co" aor.init_1 o// srec a , rn2=)codeo+ "bi)co" a+ 'm'a+ txta+ endcode// srsry0 , rn2=)codeo+ "bi)co"s[co"] a+ 'm'a+ txta+ endcode// srexcepf:i , rtxtd s)f)r level Rm Sdaget__(rad" p.velu<= verbosityLevel if"no,-USE_COLOR .irp s m Sdage Ma .irp s uolorize(m Sdage,clevel)se(s " p.veluiia'fatal':// srec a (sel m Sdage s)setVerbosity levelt__(radverbosityLevelu)"level )troller/tui/drawerat tr0100755076403100000331207447761623015175 0uf dblankfacultr# DraweratncmalT;"oubcmalT d byarnyaring that wants So be eratnSo be #"drawn. .S. BUserLbincBuffimrUserLbin_cimalToDrawerat(UserLbint__(ra"""_(raTangMimalToencapsulavesothingT that can be rendered.oDraweratgMare lbinsuof drawerats. _(ra"""_(ra s)swn2=)e i][0, ='top level',op" ps={}t__(radiu"""_(radiuNnd engMa globaly unique nnd e" ngMdrawerat_(radiu"""_(radiuUserLbin.swn2=)e i][0) , i][0]draweratNnd erannd i][0]op" ps = opfionT): i][0]nee:ToRedraw =r)ui,f s)getOpfionTs);nPt__(radiu"""_(radiuR , gMa dicnionary (index d byadraweratannd )uof dicnionarieT): (index d byaopfionannd )uof possirataopfionavaluts. _(radiu"""_(radiuopfs = {}_(radiuf: "d inafin. o// srec anopfs[d.getNnd [o]_(radiuopfs[fin.]")"i][0]opfionT): , ropfs)ui,f s)getNnd [);nPt__(radiu"""_(radiuR , dhnnd eofithiToDrawerat_(radiu"""_(radiu , ri][0]draweratNnd )ui,f s)getDraweratgs);nPt__(radiu"""_(radiuR , gMa tbincorafin. plugMall children'gMdrawerats_(radiu"""_(radiutbincto[] , f: "d inafin. #p s d, a.gMa drawerataofr, = "" f: "xrinad.getDraweratgs) .ir in.ppennd(xo oe(# in.ppennd(i][0) , , rlbin_cui,f s)draws);nP,op" ps,renderert__(radiu"""_(radiuDrawMall childrenarnd then draw s "" """_(radiuf: "d inafin. #p s "Calling draw f) ",cd]draweratNnd ) d]draw(op" ps,renderert# [d.getNnd [o],renderert #p s "Calling draw f) afin. r, = "" draweratNnd ) = "" _draw(op" ps,renderert;): i][0]nee:ToRedraw =r)u_(ra s)sdraws);nP,op" ps,renderert__(radiu"""_(radiuTangMngMthe funcnion that childrenafhnuldnimple."ItMfhnuld_(radiudraw it);nP._(radiu"""_(radiu (sel "Drawerat _draw:engManarbtbia fuption" )troller/tui/gl tr0100755076403100001671110263033112013774 0uf dblankfacultr.S. BOennGL.GLUTcBuffimr* .S. BOennGL.GLcBuffimr* .S. BOennGL.GLUcBuffimr* Buffimrv i]D # BuffimrOennGL.Tk as Oenngl .S. Boroller tui"drawerataBuffimr* .S. Boroller tui"renderer.glaBuffimr* .S. Boroller tui"renderer.stoe msaBuffimr* .S. Boroller oller.fervi iuffimrServi .S. Btime Buffimrtime #"A GLctui_cimalToGLView(Servi o// s s)swn2=)e i][0, self, width 400, he")"" 400, dbera1, pth 1t__(radiuServi .swn2=)e i][0, fervi Typeoia'view')se(s #hTangMnee:s So be d "here__(radiu);nP. self.= oller_(radiu);nP.ppe swv i]D #. mptMdiu);nP.ppe.withdraws)se(s #hAnd ot:eroml0= windowSrfhnuldnuel v i]D #. oplevels) , i][0]width width , i][0]he")"" he")"" , i][0]gentbincto"denn tni][0]maltRuncto"denn tni][0]hisv) ] to[] , i][0]hisv) ]_:etnter )""denn tni][0]malttime )""denn tni][0]fillib["]D #= " )"".1"denn tni][0]dberadbdenn tni][0]d pth d pth , i][0]wincto= Ps_(radiui][0]cettWindow( ui,f s)cettWindow();nPt__(radiui][0]visirata=s1nI );nP.pcnivta=s1nI " fin.rwinc!='N :i don.i i][0]frnd erav i]D #.Frnd [o oe(i][0]frnd eviceh. haoia' oh') , i][0]winctoOenngl.Oenngl(malter")" ]frnd , width i][0]width, \ he")"" i][0]he")"",.dourat i][0]db, \ d pth i][0]d pth) , i][0]wineviceh. haoia' oh' R)xprnd to1.pchl" )"'lerh') , i][0]win]winfo_toplevels).titat("3D , self.Rself View") , i][0]win]redraw =r);nP. edraw_(radiui][0]codeoiav i]D #.IntVam(fin.rwin)_(radiui][0]code]set(GL_EXP) , i][0] ifs ui,f s)fillibWindow();nPt__(radiu#curre serabid [o oe(#i2=curre se-ni][0]malttime >=ni][0]fillib["]D #= ": , i][0]win]tkRedraws)se(s #htni][0]malttime )"curre sse(s #mbda "i][0]win]tk.do event(2 opalT)ui,f s) altUillibs);nPt__(radiui][0]fillib["]D #= " )"".1"dui,f s)cediumUillibs);nPt__(radiui][0]fillib["]D #= " )"".33 , s)slowUillibs);nPt__(radiui][0]fillib["]D #= " )"1.0tui,f s) ifs);nPt__(radiu# DoMno,-specifyMa mlibri " pro sty here._(radiumli to[0.it_0.it_0.it_1.0] , glMlibri "fv(GL_FRONT "GL_AMBIENT "mli) , glMlibri "fv(GL_FRONT "GL_DIFFUSE,o[0.61424t_0.i4136t_0.i4136t_1.0]) , glMlibri "fv(GL_FRONT "GL_SPECULAR,o[0.727811t_0.626959t_0.626959t_1.0]) , glMlibri "fv(GL_FRONT "GL_SHININESSt_0.6 * 128.0) , l")""gray to[0.75t_0.75t_0.75t_1.0] , gray to[0.5t_0.5t_0.5t_1.0] , darkgray to[0.25t_0.25t_0.25t_1.0] , black to[0t_0t_0] , , glL")""fv(GL_LIGHT0 "GL_SPECULAR,ol")""grayt;): glL")""fv(GL_LIGHT0 "GL_DIFFUSE,ograyt;): glL")""fv(GL_LIGHT0 "GL_AMBIENT "blackt;): ): glDiserat(GL_DITHER) , glEnerat(GL_DEPTH_TEST) , glD pthFunc(GL_LESS)): glL")""fv(GL_LIGHT0 "GL_POSITION,o[0.it_3.it_3.it_0.0]) , localview to[0.i]): glL")""Modelfv(GL_LIGHT_MODEL_LOCAL_VIEWER,olocalview ) , glEnerat(GL_CULL_FACE) , glEnerat(GL_LIGHTING) , glEnerat(GL_LIGHT0) , glEnerat(GL_COLOR_MATERIAL) , glColorMlibri "(GL_FRONT_AND_BACK "GL_DIFFUSE ui,f s) edraws);nP, wincto"t__(radiuglCm,irColor(0.5t_0.5t_0.5t_0) , glCm,ir(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)se(s #glLoadIdentity )se(s #);nP. esize(i][0]width, i][0]he")"") , f GenericStoe msp , Stoe mRenderer(f) , i][0]oller.draws{},Mryg# getdthe draw commrnds , f.close[o oe(s Stoe mTranslav) (0, GLRenderer(o g# generlib commrnds , i]p ocess[o #"drawdthe oller_(radiu..close[o oe(sin.rtextView(o oe(sin.rbitmapSbinngo1, i][0]he")"" - 3it_"X r, (0t_0t_0)o oe(sin.rbitmapSbinngo1, i][0]he")"" - 6it_"Y r, (0t_0t_0)o oe(sin.rbitmapSbinngo1, i][0]he")"" - 9it_"Th r, (0t_0t_0)o oe(" fin.rollerw!= r: , ii][0]bitmapSbinngo1, i][0]he")"" - 3it_" i%.2fraisf][0]oller.x, (nt_0t_0)o oe(oe(sin.rbitmapSbinngo1, i][0]he")"" - 6it_" i%.2fraisf][0]oller.y, (nt_0t_0)o oe(oe(sin.rbitmapSbinngo1, i][0]he")"" - 9it_" i i%.2fraisf][0]oller.th, (nt_0t_0)o oe(oe(" fin.roller]ell .irsin.rbitmapSbinngo1, i][0]he")"" - 12it_"[BUMP!]", (nt_1t_0)o oe( i][0]bitmapSbinngo1, i][0]he")"" - 3it_" i0.i", (nt_0t_0)o oe(oe(sin.rbitmapSbinngo1, i][0]he")"" - 6it_" i0.i", (nt_0t_0)o oe(oe(sin.rbitmapSbinngo1, i][0]he")"" - 9it_" i i0.i", (nt_0t_0)o ui,f s)textView();nPt__(radiuglViewffim(0t0,i][0]width,i][0]he")"") , glMlirixMode(GL_PROJECTION)): glLoadIdentity )se(s glOrtho(0.it_i][0]width - 1.it_0.it_i][0]he")"" - 1.it_-n.it_1.0) , glMlirixMode(GL_MODELVIEW)): glLoadIdentity )sui,f s)bitmapSbinngo);nP, x, y,'s i, uolort__(radiuglColor3fv(uolort_(radiuglRalterPos2f(x, y) , f: "ebboara = Bop.m("tr)) glutBitmapChaia er(GLUT_BITMAP_HELVETICA_18 " d("tr[i])o uis);n __oiia'__ml0=__' .S. Boroller plu srollers.SimpleRself iuffimrSimpleRselfsui,fimalToSimpleDraweratRselfsSimpleRself) s)sdraws);nP, opfionT, renderert_ # verupouedo"S. B self # ]eetLocafion( ]eenses[' self']['x'], \ # ]eenses[' self']['y'], \ # ]eenses[' self']['z'], \ # ]eenses[' self']['thr']g renderer.x rmPush( nderer.col) (o1, 0t_0)o oe(oe renderer.x rmRotav );nP]oller.th, (0t_0t_1)o oe(oe( renderer.x rmXlav ( 0t_0t_.15)o oe(oe( renderer.box((-.25t_.25t_0), \ (.25t_.25t_0), \ (.25t_-.25t_0), \ (-.25t_.25t_.35o g# dMngMover a, CW oe(oe( renderer.col) (o1, , 0)o oe(oe( renderer.box((.13t_-.05t_.35o, \ (.13t_.05t_.35o, \ (.25t_.05t_.35o, \ (.13t_-.05t_.45o g# dMngMover a, CW oe(oe( renderer.col) (o.5t_.5t_.5)o oe(oe( # wheel"1nI nderer.x rmPush( nderer.x rmXlav (.25t_.3, 0)o oe(oe(renderer.x rmRotav 9it_(nt_0t_0)o oe(oe(renderer.v) us(.06t_.12, 2, 24 renderer.x rmPop[o oe(s x # wheel"2nI nderer.x rmPush( nderer.x rmXlav (-.25t_.3, 0)o oe(oe(renderer.x rmRotav 9it_(nt_0t_0)o oe(oe(renderer.v) us(.06t_.12, 2, 24 renderer.x rmPop[o oe(s x # wheel"3nI nderer.x rmPush( nderer.x rmXlav (.25t_-.3, 0)o oe(oe(renderer.x rmRotav 9it_(nt_0t_0)o oe(oe(renderer.v) us(.06t_.12, 2, 24 renderer.x rmPop[o oe(s x # wheel"4nI nderer.x rmPush( nderer.x rmXlav (-.25t_-.3, 0)o oe(oe(renderer.x rmRotav 9it_(nt_0t_0)o oe(oe(renderer.v) us(.06t_.12, 2, 24 renderer.x rmPop[o oe(s x # sonar # nderer.x rmPush( #renderer.col) (o0t_0t_.7)o oe(oe(#): "eboara = Boi][0]get('sonar' "'count')) # ynt_xnt_z1 -i][0]get('sonar' "'x' "i), \ # -i][0]get('sonar' "'y' "i), \ # i][0]get('sonar' "'z' "i) # #y2, x2, z2 -i][0]get('sonar' "'ox' "i), \ # # -i][0]get('sonar' "'oy' "i), \ # # i][0]get('sonar' "'oz' "i) # # Those aboveavalutsMare off! # # FIXME:nmbat a eithe actu " posit ps orafins: "x,y? # x2, y2, z2 0t_0t_z1 # arc =r);nP.get('sonar' "'arc' "i) # oara dians # nderer."ay((xnt_ynt_z1), (x2, y2, z2), arc) # # nderer.x rmPop[o oe(s x # end ora self renderer.x rmPop[o self.= SimpleDraweratRselfs) tuieswGLView( self #tui"ppe.ml0=loop[o troller/tui/ spector.tr0100755076403100001434110260524106015402 0uf dblankfacultr Buffimrv i]D # BuffimrinitT)Buffimroroller iystem.sha eiaSrfhare cimalToI spector(v i]D #. ) s)swn2=)e i][0, slf.= N ) v i]D #. .swn2=)e i][0) , sm# firstithe obj window leftFrnd erav i]D #.Frnd [i][0) , smleftFrnd eviceh{')xprnd':'yes' "'. ha' :'left' "'pady' :'1',o// srec angMa 'chl"' :'y'}) , smleftFrnd ewinfo_toplevels).titat(", self.ObjectoI spector" frnd erav i]D #.Frnd [leftFrnd frnd eviceh{')xprnd':'yes' "'. ha' :'left' "'pady' :'1',o// srec angMa 'chl"' :'y'}) , smfrnd [' elief']")"' (seld' , smfrnd ['bd'] ")"'2' , smfi(bsFrnd erav i]D #.Frnd [frnd fi(bsFrnd [' elief']")"'flav' , smfi(bsFrnd ['bd'] ")"'2' , smfi(bsFrnd eviceh{'. ha':' oh' R')xprnd':'yes' "'chl"':'y'}) , smlabelerav i]D #.Label(fi(bsFrnd ) , smlabel['text']")"'Objects:' , smlabeleviceh{'. ha':' oh' R')xprnd':'no' "'anchor':'w' // srec angMa(w*s,,,,'chl"':'n '}) , smscrollBarerav i]D #.Scrollbar(fi(bsFrnd , {'orient':'vertical'}) , smscrollBareviceh{')xprnd':'no' "'. ha':'r")""' "'chl"':'y'}) , smi][0]dirLberav i]D #.Listbox(fi(bsFrnd , {'yscroll':scrollBareset}) , smi][0]dirLbeviceh{')xprnd':'yes' "'. ha' :' oh' R'pady' :'1',o// srec angMa 'chl"' :'y'}) , smi][0]dirLbeOW',('', ]eelectItem) , smscrollBar['commrnd']")"i][0]dirLbeyview , smi][0]dirLbecoclosure(yscroll=scrollBareseto # mearods: frnd erav i]D #.Frnd [leftFrnd frnd eviceh{')xprnd':'yes' "'. ha' :' oh' R'pady' :'1',o// srec angMa 'chl"' :'y'}) , smfrnd [' elief']")"' (seld' , smfrnd ['bd'] ")"'2' , smfi(bsFrnd erav i]D #.Frnd [frnd fi(bsFrnd [' elief']")"'flav' , smfi(bsFrnd ['bd'] ")"'2' , smfi(bsFrnd eviceh{'. ha':' oh' R')xprnd':'yes' "'chl"':'y'}) , # Mearods: labelerav i]D #.Label(fi(bsFrnd ) , smlabel['text']")"'Mearods:' , smlabeleviceh{'. ha':' oh' R')xprnd':'no' "'anchor':'w' // srec angMa(w*s,,,,'chl"':'n '}) , smscrollBarerav i]D #.Scrollbar(fi(bsFrnd , {'orient':'vertical'}) , smscrollBareviceh{')xprnd':'yes' "'. ha':'r")""' "'chl"':'y'}) , smi][0]mearodserav i]D #.Listbox(fi(bsFrnd , {'yscroll':scrollBareset}) , smi][0]mearodseviceh{')xprnd':'yes' "'. ha' :' oh' R'pady' :'1',o// srec angMa 'chl"' :'y'}) , smicrollBar['commrnd']")"i][0]mearodseyview , # varieratg: frnd erav i]D #.Frnd [leftFrnd frnd eviceh{')xprnd':'yes' "'. ha' :'elftom' R'pady' :'1',o// srec angMa 'chl"' :'y'}) , smfrnd [' elief']")"' (seld' , smfrnd ['bd'] ")"'2' , smfi(bsFrnd erav i]D #.Frnd [frnd fi(bsFrnd [' elief']")"'flav' , smfi(bsFrnd ['bd'] ")"'2' , smfi(bsFrnd eviceh{'. ha':' oh' R')xprnd':'yes' "'chl"':'y'}) , # Varieratg: labelerav i]D #.Label(fi(bsFrnd ) , smlabel['text']")"'Varieratg:' , smlabeleviceh{'. ha':' oh' R')xprnd':'no' "'anchor':'w' // srec angMa(w*s,,,,'chl"':'n '}) , smscrollBarerav i]D #.Scrollbar(fi(bsFrnd , {'orient':'vertical'}) , smscrollBareviceh{')xprnd':'yes' "'. ha':'r")""' "'chl"':'y'}) , smi][0]varieratgerav i]D #.Listbox(fi(bsFrnd , {'yscroll':scrollBareset}) , smi][0]varieratgeviceh{')xprnd':'yes' "'. ha' :'elftom' R'pady' :'1',o// srec angMa a(w*s,,,,'chl"' :'y'})(w*s,,,, , smicrollBar['commrnd']")"i][0]varieratgeyview , # help)text: frnd erav i]D #.Frnd [i][0) , smfrnd eviceh{')xprnd':'yes' "'. ha' :'r")""' "'pady' :'1',o// srec angMa 'chl"' :'lerh'}) , smfrnd [' elief']")"' (seld' , smfrnd ['bd'] ")"'2' , smfi(bsFrnd erav i]D #.Frnd [frnd fi(bsFrnd [' elief']")"'flav' , smfi(bsFrnd ['bd'] ")"'2' , smfi(bsFrnd eviceh{'. ha':' oh' R')xprnd':'yes' "'chl"':'lerh'}) , smlabelerav i]D #.Label(fi(bsFrnd ) , smlabel['text']")"'Help:' , smlabeleviceh{'. ha':' oh' R')xprnd':'no' "'anchor':'w' // srec angMa(w*s,,,,'chl"':'n '}) , sm# help: , smscrollBarerav i]D #.Scrollbar(fi(bsFrnd , {'orient':'vertical'}) , smscrollBareviceh{')xprnd':'no' "'. ha':'r")""' "'chl"':'y'}) , smi][0]helpsextgswv i]D #. ext(fi(bsFrnd , {'yscroll':scrollBareset,cawidth": 70}) , smi][0]helpsexteviceh{')xprnd':'yes' "'. ha' :' oh' R'pady' :'1',o// srec angMa 'chl"' :'lerh'}) , smicrollBar['commrnd']")"i][0]helpsexteyview , i][0]mearodseOW',('', ]mearodItem) , sms][0]varieratgeOW',('', ]varieratItem) , sm slf.=='N : , i i slf.= dir( forothing_s . h slf .irsin.rdirLbeinsert('end',othing_s) s)showHelp i][0, thing_s): , smi][0]helpsextedelete(n.it_'end' execi"aring =a%sraisthing_s , sm thing#__doc__ .irsin.rhelpsexteinsert('end',othing#__doc__ e "): sii][0]helpsexteinsert('end',o"") s)upouItems i][0, thing_s): , smi][0]mearodsedelete(0,mi][0]mearodsesize()) , sms][0]varieratgedelete(0,mi][0]varieratgesize()) , sms][0]helpsextedelete(n.it_'end' execi"aring =a%sraisthing_s , sm thing#__doc__ .irsin.rhelpsexteinsert('end',othing#__doc__ e "): sii][0]helpsexteinsert('end',o"") forosubthing_s . hdir(thing) .ir" fubthing_s"0] =R'_':ucoctinub , i execi"fubthing =a%s.%srais(thing_s, fubthing_s) .ir" init_fubthing aor.inits.MearodType .irdiu i][0]mearodseinsert('end',ofubthing_s) .ir "): si+= 'i][0]varieratgeinsert('end',ofubthing_s) s)selectItem i][0, event) lberaevent]widget , sms][0]curre sObjecto= lb.get(lb.nearest(event]y)) , sms][0]upouItems i][0]curre sObject) s)mearodItem i][0, event) lberaevent]widget , sms][0]showHelp i][0]curre sObjecto+R=."o+Rlb.get(lb.nearest(event]y))) s)varieratItem i][0, event) lberaevent]widget , sms][0]showHelp i][0]curre sObjecto+R=."o+Rlb.get(lb.nearest(event]y))) is);n __oiia'__ml0=__' fimalToTesting """ TangMngMthe imalToTesting"""_(radiu )var1 56_(radiu ) s)swn2=)e i][0) .irpalT): s)meard1 i][0) .ir"""mearod 1)test"""_(radiu ) .irpalT): testinggswvesting( ips = I spector(('testing',o) ips.ml0=loop[o troller/tui/canvas/004075507640310000000001026052464514302 5uf dblankfacultrtroller/tui/canvas/GLcanvas.tr0100755076403100000664610260524106016356 0uf dblankfacultr.S. Boroller tui"canvascBuffimr* .S. BOennGL.GLcBuffimr* .S. BOennGL.GLUTcBuffimr* .S. BOennGL.TkcBuffimr* #"A basic GLcwidgetMwith some saults:_cimalToGLcanvas(canvas) s)swn2=)e i][0, width 200, he")"" 200, dbera1, pth 1t__(radcanvas.swn2=)e i][0, width, he")"" i][0]winctoOenngl(width width, he")"" he")"",.dourat db, d pth d pth i][0]win]redraw =r);nP. edraw_(radi][0]win]viceh. haoia' oh' R)xprnd to1.pchl" )"'lerh') , s][0]codeoiaIntVam(fin.rwin)_(rads][0]code]set(GL_EXP) ,f s) ifs);nPt__(radglMlibri "f(GL_FRONT "GL_AMBIENT "[0t_0t_0t_1.]) , glMlibri "f(GL_FRONT "GL_DIFFUSE,o[0.61424t_0.i4136t_0.i4136t_1.0]) , glMlibri "f(GL_FRONT "GL_SPECULAR,o[0.727811t_0.626959t_0.626959t_1.0]) , glMlibri "f(GL_FRONT "GL_SHININESSt_0.6 * 128.0) , l")""gray to(0.75t_0.75t_0.75t_1.0) , gray to(0.5t_0.5t_0.5t_1.0) , darkgray to(0.25t_0.25t_0.25t_1.0) , black to(0t_0t_0) , glL")""fv(GL_LIGHT0 "GL_SPECULAR,ol")""grayt;): glL")""fv(GL_LIGHT0 "GL_DIFFUSE,ograyt;): glL")""fv(GL_LIGHT0 "GL_AMBIENT "blackt;)): glDiserat(GL_DITHER) , glEnerat(GL_DEPTH_TEST) , glD pthFunc(GL_LESS)): glL")""f(GL_LIGHT0 "GL_POSITION,o[0.it_3.it_3.it_0.0]) , glL")""Modelf(GL_LIGHT_MODEL_LOCAL_VIEWER,o[0.0]) , glEnerat(GL_CULL_FACE) , glEnerat(GL_LIGHTING) , glEnerat(GL_LIGHT0) , glEnerat(GL_COLOR_MATERIAL) , glColorMlibri "(GL_FRONT_AND_BACK "GL_DIFFUSE ui, ,f s) edraws);nP, ot__(radglCm,ir(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)s is);n __oiia'__ml0=__' # test"itMout"with strndard fog/v) usR)xample imalToFog (GLcanvast__(rad s)swn2=)e i][0, width, he")"" __(radiu# n2=)dcanvas_(radiuGLcanvas.swn2=)e i][0, width, he")"" o # add some ot:eroitems o r1 Radiobu)e)n(sext='GL_LINEAR' Ranchor=W,)varierat=s][0]code // srec angMa(w*s,,,,,,,valut=GL_LINEAR, commrnd= ]eelectFog) o r1eviceh. haoia' oh' R)xprnd to1.pchl" )"'lerh') , r2 Radiobu)e)n(sext='GL_EXP' Ranchor=W,)varierat=s][0]code // srec angMa(w*s,,,,,,,valut=GL_EXP, commrnd= ]eelectFog) o r2eviceh. haoia' oh' R)xprnd to1.pchl" )"'lerh') _(rad s)drawT) us();nP, x, y,'zt__(radiuglPushMlirix(t;): glTranslav f(x, y,'zt;): glMlibri "f(GL_FRONT "GL_AMBIENT "[0.1745t_0.01175t_0.01175t_1.0]) , glMlibri "f(GL_FRONT "GL_DIFFUSE,o[0.61424t_0.i4136t_0.i4136t_1.0]) , glMlibri "f(GL_FRONT "GL_SPECULAR,o[0.727811t_0.626959t_0.626959t_1.0]) , glMlibri "f(GL_FRONT "GL_SHININESSt_0.6 * 128.0) , glutSolidT) us(0.275t_0.85t_2it_20) , glPopMlirix(t _(rad s) edraws);nP, ot__(radiuGLcanvas. edraws);nP, ot_(radiusin.rdrawT) us(-4.it_-0.5t_-1.0) , sin.rdrawT) us(-2.it_-0.5t_-2.0) , sin.rdrawT) us(0.it_-0.5t_-3.0) , sin.rdrawT) us(2.it_-0.5t_-4.0) , sin.rdrawT) us(4.it_-0.5t_-5.0t _(rad s) ifs);nPt__(radiu# call superimalTomearod (I wishMthere wagMa way to forceithiTt__(radiuGLcanvas. ifs);nPt ): glEnerat(GL_FOG) , fogColor to[0.5t_0.5t_0.5t_1.0] , glFogi(GL_FOG_MODE "GL_EXP) , glFogf(GL_FOG_COLOR, fogColor) , glFogf(GL_FOG_DENSITYt_0.35) , glHint(GL_FOG_HINT "GL_DONT_CARE) , glCm,irColor(0.5t_0.5t_0.5t_1.0) , s)selectF)r i][0t__(radiu= " )"s][0]code]gets ifu= " )swGL_LINEAR glFogf(GL_FOG_STARTt_1.0) , glFogf(GL_FOG_END, 5.0) , glFogi(GL_FOG_MODE "= ") , = " )swGL_EXP: , glFogi(GL_FOG_MODE "= ") , sin.rwin]tkRedraws)s f F)r 5it_50) ,0]win]redraw =rP. edraw_(r0] ifs ,0]win]ml0=loop[o troller/tui/canvas/swn2=)e .tr0100755076403100000021107447761623016421 0uf dblankfacultr# Basedcanvas imalT_cimalTocanvas: , s)swn2=)e i][0, width 200, he")"" 200t__(radiui][0]width width , i][0]he")"" he")"" troller/tui/pler/0040755076403100000000010263033112013770 5uf dblankfacultrtroller/tui/pler/swn2=)e .tr0100755076403100000000010120241151016063 0uf dblankfacultrtroller/tui/pler/hinton.tr0100755076403100000646110260524106015655 0uf dblankfacultr# ------------------------------------------------------- # Hinton Diagram # ------------------------------------------------------- .S. Bv i]D #cBuffimr* BuffimroT_cimalToHinton_ # Pllf s)swn2=)e i][0, blocks to1.ptitat.= N , width 275t_maxvalut )"1.0, data.= N ) """_(radiuArgus: , blocks:Mthe tinggnumb #co =ectors So pler [1] titat:Mthe titat.ofithe Pllf window [hinton@$HOSTNAME] width:Mthe tinggwidth ofithe pllf window [275] maxvalut: The maximum mag2=)ude ofithe pllfs [1.0] , data: The =ector So n2=)ializeithe pllf with [N ] """_(radiui][0]ppe swv mptMdiu);nP.ppe.wm_stav 'withdrawn') , i][0]wincto oplevels) , i][0]maxvalut=maxvalut_(radiui][0]width=width , data:// srec anblocks top.m(data) , i][0]he")"" int(abs(width / float(blocks))o oe(" titat.=='N : , isin.rwin]wm_titat("hinton@%s:"%os.getenv('HOSTNAME')o oe( i][0]win]wm_titat(titat) , i][0]canvas = Canvas(i][0]win,width=i][0]width,he")""=i][0]he")"") , i][0]win]OW',("r, = "" ch = BSize) , i][0]canvaseviceh{'chl"':'lerh' R')xprnd':1 "'. ha': 'left'}) , i][0]even )""denn tn data:// srec ani][0]fillib(data) , i][0]fillib([1.0] *nblocks o #i][0]win]aspect(i][0]width - 6it_i][0]he")"" + 32t_i][0]width - 6it_i][0]he")"" + 32) , sm s)setTitat(i][0, titat): , i][0]win]wm_titat(titat) s)ch = BSize i][0, event) i][0]width i][0]win]winfo_width() - 6i i][0]fillib(s][0]uast) , s)fillib i][0, =ect__(radiu#cett a copyco =ect_io wedcanMmodifyMthe valutsMforoboundgMchec i]g i][0]uast = vec_(radiu=ector = vec[:]denn tn i][0]even labelera'even' last = 'odd' , labelera'odd' , last = 'even' i][0]even )"no,-s][0]even , blocksizei=arbt(i][0]width / float(p.m(=ector))o oe(berablocksizei/ 2.i y tobdenn tnforovboara = B (p.m(=ector)) i =ector[v] <_0.i .ircolor to'rld' , smr "): sicolor to'black' , smr#ifithe =ector is), "aD #cBn mag2=)ude thanMmaxvalutt_i]t"it , smr#So maxvalut rnd ch = BMthe iolor So n2diclib that it'sMout , smr#o boundg i =ector[v] > i][0]maxvalut: si=ector[v] = i][0]maxvalut sicolor to'gray50' , smr i =ector[v] <_-i][0]maxvalut: si=ector[v] = -i][0]maxvalut sicolor to'pink' , smrxerablocksizei*ovb+obdenn tnnnnsizei=arbt(=ector[v]/float(i][0]maxvalut)) *nblocksizei*o.8i/ 2.io// srec ansry0 sii][0]canvasec "aD _rect = at(xe-niize // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,ye-niize // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,xo+ "ize // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,ye+ "ize // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,width 0 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,taggswlabel // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"uolort_(radiu srexcepf:// srec angMapalT): sry0 i][0]canvasedelete(uast) , excepf:// srec anpalT): mbda "i][0]win]tk.do event(2 opalT)ui,f s)destroys);nPt__(radiui][0]win]destroys) is);n __oiia'__ml0=__' hinton1 Hinton(6) hinton1]fillib([0.it_1.0t_.5t_0.it_-n.it_-.5]) hinton2 Hinton(7) v to[1.it_1.0t_1.0t_1.0t_-1.0t_1.0t_-1.0t_-5.0] hinton2]fillib(v) p s v hinton1]win]ml0=loop[o troller/tui/pler/map tr01006440764031000001724767766732015155 0uf dblankfacultr# ------------------------------------------------------- # Simple Map # ------------------------------------------------------- Buffimrv i]D # cimalToMap(v i]D #. ) o// srCOLORS to['blue' R'rld' R't =' "'yellow' "'oa = B' "'black' // srec angMa(w'azure' "'be")e' "'brown' "'coral' "'gold' R'ivory' // srec angMa(w'moccasin' "'navy' "'.almon' R't =' "'ivory'] s)swn2=)e i][0, self, nnd )__(radiu v i]D #. .swn2=)e i][0) , sm);nP. self.= oller_(radiu i][0]nnd erannd e(sin.rtitat("Map:a%sraisnnd ) , smi][0]canvas = v i]D #.Canvas(i][0,width=400,he")""=400) , smi][0]canvaseviceh) , smi][0]fillib["dletasksh) , smi][0]protouol('WM_DELETE_WINDOW',i][0]close) s)close[i][0) i][0]withdraws)se(s smi][0]fillib["dletasksh) , smi][0]destroys) s) edraws);nP, op" ps = {}t__(radiuiu# do somearing to"drawdyour);nPse(s smi][0]fillib["dletasksh) is);n __oiia'__ml0=__' fmap = Map(it_'2D Map') , map ml0=loop[o troller/tui/pler/mairix.tr01007550764031000006703767226424415702 0uf dblankfacultr# ------------------------------------------------------- # Mlirix Pllf (Images) # ------------------------------------------------------- .S. Bv i]D #cBuffimr* BuffimroT_cimalToMlirix_ # Pllf s)swn2=)e i][0, uols = 1, sws to1.ptitat.= N , width 275t// srec angMa(w*she")"" 275t_maxvalut )"255.0, data.= N ,.init to'grid') """_(radiuArgus: , """_(radiui][0]init toinit_(radiui][0]ppe swv mptMdiu);nP.ppe.wm_stav 'withdrawn') , i][0]wincto oplevels) , i][0]maxvalut=maxvalut_(radiui][0]width=width , i][0]he")"" he")"" smi][0]cols = cols smi][0] sws to sws oe(" titat.=='N : , isin.rwin]wm_titat("mairix@%s:"%os.getenv('HOSTNAME')o oe( i][0]win]wm_titat(titat) , i][0]canvas = Canvas(i][0]win,width=width,he")""=he")"") , i][0]win]OW',("r, = "" ch = BSize) , i][0]canvaseviceh{'chl"':'lerh' R')xprnd':1 "'. ha': 'left'}) , i][0]even )""denn tn data:// srec ani][0]fillib(data) , i][0]fillib([1.0] *ncols *o sws) , sm s)setTitat(i][0, titat): , i][0]win]wm_titat(titat) s)ch = BSize i][0, event) i][0]width i][0]win]winfo_width() - 2 , i][0]he")"" i][0]win]winfo_he")""() - 2 , i][0]fillib(s][0]uast) , s)fillib i][0, =ect__(radiui][0]uast = vec[:]denn tn i][0]even labelera'even' last = 'odd' , labelera'odd' , last = 'even' i][0]even )"no,-s][0]even , i][0]init t= 'som' x_blocksizei=aint(i][0]width / float(i][0]cols +_.5)o oe( x_blocksizei=aint(i][0]width / float(i][0]cols)o oe(y_blocksizei=aint(i][0]he")"" / float(i][0] sws)o oe(x_bi=ax_blocksizei/ 2.i y_bi=ay_blocksizei/ 2.i fororboara = B (i][0] sws) forocboara = B (i][0]cols): si= to *oi][0]cols +_c sicolor to"gray%draisint((=ec[v] / i][0]maxvalut) *n100.0)o// srec angMaxi=ax_blocksizei*nc +_x_b// srec angMayi=ay_blocksizei*o +_y_b// srec angMasry0 si i][0]init t= 'grid': si+= 'sii][0]canvasec "aD _rect = at(xe-nx_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, angMayi-_y_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, angMax +_x_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, angMayi+_y_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, angMawidth 0 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,taggswlabel // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"uolort_(radiu srrrrrrr # som// srec angMa(w*s,, ais2 t= 1: si+= 'si Max +=_x_b// srec angMaaaaaaai][0]canvasec "aD _oval(xe-nx_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, yi-_y_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, x +_x_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, yi+_y_b // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,, width 0 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,taggswlabel // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"uolort_(radiu srrrrexcepf:// srec angMa MapalT): sry0 i][0]canvasedelete(uast) , excepf:// srec anpalT): mbda "i][0]win]tk.do event(2 opalT)ui,f s)destroys);nPt__(radiui][0]win]destroys) is);n __oiia'__ml0=__' mairix1 = Mairix(3, 2,.init to'grid't_maxvalut )"1) mairix3 = Mairix(3, 2,.init to'som' Rmaxvalut )"1) mairix1]fillib([0.it_1.0t_.5t_0.it_.74t_.5]) mairix3]fillib([0.it_1.0t_.5t_0.it_.74t_.5]) mairix2 = Mairix(4, 2,.init to'som' Rmaxvalut )"5) v to[1.it_1.0t_0.it_1.0t_1.0t_1.0t_1.0t_5.0t_5.0] mairix2]fillib(v) mairix1]win]ml0=loop[o troller/tui/pler/scatD #.tr0100755076403100002716510263033112016022 0uf dblankfacultr# ------------------------------------------------------- # ScatD # PllfD # # ------------------------------------------------------- .S. Bv i]D #cBuffimr* BuffimroT_cimalToLi : , s)swn2=)e i][0, x, y,'li Id, :etntId) i][0]xi=ax i][0]yi=ay i][0]li Idgswli Id , smi][0]petntIdgswpetntId_cimalToScatD #( oplevel) """_(radScatD #( polevel)_(radppe swN ,_(radxLabeleraN ,_(radyLabeleraN ,_(radlegend toN ,_(radtitat.= N ,_(radwinTitat.= ", self.ScatD # Pllf",_(radwidth 400,_(radhe")"" 300,_(radhisv) ]raN ,_(radli count to1._(radxSt 0.0t_xEnd to1.0,_(radcon ctPetnts to1._(radySt 0.0t_yEnd to1.0) """_(radCOLOR to['blue' R'rld' R'gree=' "'yellow' "'oa = B' // srec angMa 'black' w'azure' "'be")e' "'brown' "'coral' // srec angMa 'gold' R'ivory' w'moccasin' "'navy' "'.almon' // srec angMa 't =' "'ivory',o'pink',a'viole"' "'cyan' // srec angMa 'magenta' w'aquamari ' w'khaki' "'.ea gree=' "'hlf.pink',// srec angMa 'sienna' w'tomaio' "'oachid't_'cornflow # blue' R'deep sky blue' // srec angMa 'forest"gree=' "'rosy brown'] s)swn2=)e i][0, ppe swN ,dxLabeleraN ,dyLabeleraN ,dlegend toN ,_(raddddddddddddddtitat.= N , winTitat.= ", self.ScatD # Pllf",_(raddddddddddddddwidth 400,dhe")"" 300,_(raddddddddddddddhisv) ]raN ,dli count to1.dxSt 0.0t_xEnd to1.0,_(raddddddddddddddcon ctPetnts to1.dySt 0.0t_yEnd to1.0) oplevel.swn2=)e i][0, ppet_(radiu sis)legend t='N : , i ilegend to[''] *nli count , "): silegend tomap(s i, legendt_(radiu sis)hisv) ] t='N : , i ihisv) ] to[100] *nli count , is)winTitat.=='N : , i ii][0]wm_titat("scatD #@%s:"%os.getenv('HOSTNAME')o oe( e "): sii][0]wm_titat(winTitat) , smi][0]xLabeleraxLabel i][0]yLabelerayLabel i][0]con ctPetnts tocon ctPetnts i][0]width width , i][0]he")"" he")"" sme(sin.rtitat toiitat , is)i][0]yLabel: sii][0]leftBorder to70 oe( e "): sii][0]leftBorder to45 , is)i][0]titat: sii][0]topBorder to45 , e "): sii][0]topBorder to10 , is)i][0]xLabel: sii][0]elftomBorder to70 oe( e "): sii][0]elftomBorder to45 , i][0]pllfHe")"" i][0]he")"" - (i][0]topBorder +ii][0]elftomBorder) , smi][0]pllfWidth i][0]pllfHe")"" , smi][0]xSt xSt , smi][0]xEnd toxEnd i][0]ySt ySt , smi][0]yEnd toyEnd i][0]li count toli count , i][0]legend tolegend , # ---------------------------------------------------------- i][0]li Count toi][0]li count , i][0]hisi to[0] *oi][0]li count # actu " hisi ofoli , i][0]hisi) ] tohisi) ][:]m# hisi) ] countsMforoeacholi , i][0]firstEver to[0] *oi][0]li count i][0]lasi to[0] *oi][0]li count i][0]count to[0] *oi][0]li count i][0]dlf.= 2nI ): "eboara = Boi][0]li count): sii][0]hisi[i] to[0] *ohisi) ][i] sii][0]firstEver[i] to1 sii][0]lasi[i] to0 sii][0]count[i] to0 # background i][0]canvas = Canvas(i][0, width=width, he")""=he")"") , sii][0]eW',("r, = "" ch = BSize) , i][0]canvaseviceh{'chl"':'lerh' R')xprnd':1 "'. ha': 'left'}) , i][0]n2=)egraphicsh) , sm s)n2=)egraphicshi][0) i][0]canvasedelete('graph') , i][0]canvasedelete('object') , i][0]canvasec "aD _rect = at(i][0]leftBorder // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,i][0]topBorder // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,i][0]leftBorder +mi][0]pllfWidth // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,i][0]topBorder +mi][0]pllfHe")"" // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,#i][0]he")"" - i][0]elftomBorder // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,taggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,width 1.pchl"='white') , #oiitat , i][0]canvasec "aD _sext(i][0]width / 2.it_13 // srec angMa(w*s,,,,,,,,,,,,,,,,taggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,sext=i][0]titat.pchl"='black') , #olegend , ): "eboara = Boi][0]li count): sii][0]canvasec "aD _rect = at(i][0]leftBorder +mi][0]pllfWidth +m5t// srec angMa(w*ssssssssssssssssssssssssssi][0]topBorder +mi *o20 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,i][0]leftBorder +mi][0]pllfWidth +m5 +m15t// srec angMa(w*ssssssssssssssssssssssssssi][0]topBorder +mi *o20 +m15t// srec angMa(w*sssssssssssssssssssssssssstaggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,width 1.pchl"=i][0]COLOR[i]) sii][0]canvasec "aD _sext(i][0]leftBorder +mi][0]pllfWidth +m5 +m20 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,i][0]topBorder +mi *o20 +m8 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,sext=i][0]legend[i].pchl"='black' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,saggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,anchor='w') , #oiextgacross elftom , tick to0.io// srec axtick_labelerai][0]xSt// srec ambda "tick =_0.i .iri][0]canvasec "aD _sext(i][0]leftBorder -o10 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,i][0]topBorder +mi][0]pllfHe")"" *"tick // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,anchor='e' // srec angMa saggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,sext=ytick_label.pchl"='black') , sii][0]canvasec "aD _li (i][0]leftBorder -m5t// srec angMa(w*sssssssssssssssssssssi][0]topBorder +mi][0]pllfHe")"" *"tick // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,i][0]leftBorder +m5t// srec angMa(w*sssssssssssssssssssssi][0]topBorder +mi][0]pllfHe")"" *"tick // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,saggsw'graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,width 2.pchl"='black') , sitick -to1.0 / 4.0 siytick_labele+to(i][0]yEnd -ai][0]ySt) / 4.0 is)i][0]xLabel: sii][0]canvasec "aD _sext(i][0]pllfWidth /2 +mi][0]leftBorder // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,i][0]he")"" - i][0]elftomBorder/2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,sext=i][0]xLabel // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,sag='graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,chl"='black') , is)i][0]yLabel: sii][0]canvasec "aD _sext(20 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,i][0]topBorder +m(i][0]pllfHe")"" - (p.m(i][0]yLabel) *n13))/2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,sext=i][0]yLabel // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,width=2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,anchor="n",_(radddddddddddddd,,,,,,,,,,,,,,,,,,,sag='graph' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,chl"='black') , #i][0]canvaselow #('graph') , s)ch = BSize i][0, event = N ) is)i][0]titat: sii][0]topBorder to45 , e "): sii][0]topBorder to10 , is)i][0]xLabel: sii][0]elftomBorder to70 oe( e "): sii][0]elftomBorder to45 , is)i][0]yLabel: sii][0]leftBorder to70 oe( e "): sii][0]leftBorder to45 , i][0]width i][0]winfo_width() , i][0]he")"" i][0]winfo_he")""() , i][0]pllfHe")"" i][0]he")"" - (i][0]topBorder +ii][0]elftomBorder) , i][0]pllfWidth i][0]width - i][0]leftBorder -m20 - (max(map(p.m, i][0]legend)) *n12) #oleft ha,dlegend box,dlegend sext , #i][0]pllfHe")"" # / max valut i][0]n2=)egraphicsh) , smmmmm s)setTitat(i][0, titat): , sii][0]wm_titat(titat) s)sx i][0, =al): , si= " )"(= " -ai][0]xSt) / (i][0]xEnd -ai][0]xSt) , sireturnsint(= " * i][0]pllfWidth) +mi][0]leftBorder s)sy i][0, =al): , si= " )"(= " -ai][0]ySt) / (i][0]yEnd -ai][0]ySt) , sireturnsint(i][0]pllfHe")"" - = " * i][0]pllfHe")"" + i][0]topBorder) s)cm,ir(i][0, li num = N ) is)li num =='N : , i ii][0]canvasedelete('object') , e "): sii][0]canvasedelete('li %d' %)li num) s)addPetnt i][0, x, y,'li 0 flush 1t__(rad is)no,-(x >=_i][0]xSt rnd x =_i][0]ySt rnd y =_i][0]hisi) ][li ]: sii][0]count[li ] to0 # ifithere is)an old here, d lete"it , sm" init_f][0]hisi[li ][i][0]count[li ]]) !toinit(1): sii][0]canvasedelete( f][0]hisi[li ][i][0]count[li ]]]li Idg) , sii][0]canvasedelete( f][0]hisi[li ][i][0]count[li ]]]petntIdg) , sm" init_f][0]lasi[li ]) !toinit(1) rnd i][0]con ctPetnts: silasi_x i][0]sx i][0]lasi[li ].x) silasi_y i][0]sy i][0]lasi[li ].y) , sii][0]canvasedelete( f][0]lasi[li ].:etntId) , sitry0 si f][0]lasi[li ].:etntId i][0]canvasec "aD _oval(lasi_x -m2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,lasi_y -m2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,lasi_x +_2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,lasi_y +_2 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,width 0 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags = ('object','li %d' %)li ) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"'coral't_(radiu srrrrexcepf:// srec angMa MarpalT): try0 simy_x i][0]sx x) simy_y i][0]sy y) , siis)i][0]firstEver[li ]: siiiiii][0]firstEver[li ] to0 siiiiilid -1 si i i][0]con ctPetnts: siiiiilasi_x i][0]sx i][0]lasi[li ].x) siiiiilasi_y i][0]sy i][0]lasi[li ].y) , siiiiilid i][0]canvasec "aD _li (lasi_x // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,lasi_y // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,my_x // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,my_y // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,width 1.// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags = ('object','li %d'%li ) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"'t =') , sipid i][0]canvasec "aD _oval(my_x - i][0]dlf // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,my_y - i][0]dlf // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,my_x + i][0]dlf // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,my_y + i][0]dlf // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,width 0 // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,tags = ('object','li %d'%li ) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"i][0]COLOR[li ]) , sii][0]hisi[li ][i][0]count[li ]] )"Li (x, y,'lid, :id) , sii][0]lasi[li ] =ii][0]hisi[li ][i][0]count[li ]] sii][0]count[li ] +to1 excepf:// srec angMapalT): siis)flush:// srec angMa#i][0]fillib["dletasksh) , sm sii][0]fillib() s)fillib i][0): mbda "i][0]tk.do event(2 opalT)uis);n __oiia'__ml0=__' fse swScatD #() , .S. Ba =d. BBuffimra =d. , .or y oara = Bo100) .or x oara = Bo10): siip.addPetnt a =d. (), a =d. ()) siip.fillib() siip.win]ml0=loop[o troller/tui/pler/simple.tr0100755076403100000713210263033112015636 0uf dblankfacultr# ------------------------------------------------------- # Sample PllfD # # ------------------------------------------------------- Buffimrv i]D # Buffimra =d. .S. Boroller oller deviceBBuffimrDevice Buffimroroller system.share as share_cimalToSimplePllf(Device) o// srCOLORS to['blue' R'rld' R't =' "'yellow' "'oa = B' "'black' // srec angMa(w'azure' "'be")e' "'brown' "'coral' "'gold' R'ivory' // srec angMa(w'moccasin' "'navy' "'.almon' R't =' "'ivory'] s)swn2=)e i][0, self, what,dwidth 400,dhe")"" 120): Device.swn2=)e i][0, "view") i][0]width width , i][0]he")"" he")"" sme(sin.rwhat what sme(sin.r self.= oller_(radiu i][0]dataMin to0 i][0]dataMax.= oller.a = B.getMaxvaluth) , smi][0]dataWindowSizei=a400 , smi][0]dataSample to1 i][0]dataCount to0 , smi][0]lasiRun to0 i][0]dataHisi to[0] *oi][0]oller.a = B.count i][0]sourcei=(sin.rwhat i][0]stDeviceh) , smi][0]cettWindows) s)cettWindowsi][0): sry0 sii][0]win]stav ) siok to1 excepf:// srec angMaok to0 , is)ok0 sii][0]win]deiconifyh) , sm sii][0]setVisirat(1) , e "): sitry0 si f][0]wincto i]D #. oplevelsshare tuit_(radiu srrrrexcepf:// srec angMa Marp s ", self.viewdcanno,-cett window. Chec DISPLAY)varierat." si f][0]setVisirat(0) , siiiiireturn , sii][0]win]titat(", self.view:a%sra = B sensorsraissin.rwhat) , sii][0]canvas = v i]D #.Canvas(i][0]win,width=i][0]width,he")""=i][0]he")"") , sii][0]canvaseviceh) , sm sii][0]win]winfo_toplevels)]protouol('WM_DELETE_WINDOW',i][0]hidtWindow) , sm sii][0]setVisirat(1) , s)hidtWindowhi][0) i][0]setVisirat(0) , i][0]win]withdraws)se(s s)fillibWindowhi][0, op" ps = {}t__(radiuiu# do somearing to"drawdyour);nPse(s smi i][0]dataCount >mi][0]dataWindowSize: sii][0]canvasedelete('data1') , sii][0]canvasemovt("data2", -i][0]width/2t_0) , sii][0]canvaseitemcoclosure("data2", saggsw"data1") , sii][0]dataCount toi][0]dataWindowSizei/ 2nI e "): sii][0]dataCount +to1 results to[(x.valutt_x.pos) .or x oari][0]oller.a = B[sin.rwhat]] .or disi,sensor oaraesults: sii i][0]dataCount p.m(i][0]li s[0]t: raise EOFError , e "): ret= " )"i][0]li s[0][:n] i][0]li s[0] )"i][0]li s[0][n:] returnsret= "_(ra s)readli (i][0t: ret= " )"i][0]li s[0] i][0]li s toi][0]li s[1:] returnsret= " + '\012'_(ra s)op.m(i][0,.init): i][0]swn2=) i][0) , palT): s)cmose[i][0) #)cmose it, rnd nowdyoudcan)read .S. Bit , is)no,-i][0]stavus: i][0]li s toitring.spl=) i][0]data, '\012') i][0]data )"'' i][0]copy toi][0]li s[:] i][0]stavus to1_(ra s)reset i][0): i][0]li s toi][0]copy[:] cimalToS ieamTransllior """receiv s aBpickled render"uommrnd i ieam .S. Ba,chlt rnd i]ndsBit to"the given renderer"""_(ra s)swn2=)e i][0,i ieam,renderer,debug 0): i][0]debug debug i][0]stieam = Unpickler(stieam) , i][0]rendererc= renderer)ui,f s)processhi][0) mbda "(i][0]process_item()t: palT): ui,f s)process_item(i][0) try0 uommrnd, args i][0]stieam.loadh) , sm i i][0]debug: p s "DEBUG:oS ieamTransllior,)process:", uommrnd, args i][0]renderer]swimalT__]swdic)e .get(uommrnd)(i][0]renderer, args) returns1 excepf EOFError: returns0 cimalToS ieamRenderer(Renderert: """wriibs aBpickled uommrnd i ieam to"a,chlt aT): she i]D #face is used"""_(ra s)swn2=)e i][0,chlt): i][0]stieam = Pickler(chlt)): ui,f s)x.ormPush i][0): i][0]stieam.dump(('x.ormPush', ())) , s)x.ormPop i][0): i][0]stieam.dump(('x.ormPop',())) , s)x.ormRotlib i][0,qty,pt): i][0]stieam.dump(('x.ormRotlib',(qty,pt)))_(ra s)x.ormXllib i][0,pt): i][0]stieam.dump(('x.ormXllib',(pt)))_(ra s)x.ormScalb i][0,scalb): i][0]stieam.dump(('x.ormScalb',(scalb)))_(ra s)uolor i][0,uolort: i][0]stieam.dump(('uolor',(uolort))_(ra s)ray i][0,pta,ptb,arct: i][0]stieam.dump(('ray',(pta, ptb, arct))_(ra s)li (i][0,pta,ptbt: i][0]stieam.dump(('li ' (pta,ptbt))_(ra s)uircl (i][0,pt,norm,radiust: i][0]stieam.dump(('uircl ',(pt,norm,radiust)) , s)sri = at(i][0, pta,ptb,ptct: i][0]stieam.dump(('sri = at',(pta,ptb,ptct)) , s)sext(i][0,(s it): i][0]stieam.dump(('sext',(s it))_(ra s)rect = at(i][0,pta,ptb,ptct: i][0]stieam.dump(('rect = at',(pta,ptb,ptct)) , s)box(i][0,pta,ptb,ptc, ptdt: i][0]stieam.dump(('box',(pta,ptb,ptc, ptdt)) , s)s) us(i][0, ir, ora, n, it: i][0]stieam.dump(('s) us',(ir, ora, n, it)t_(ra s)polyg p i][0,*args): i][0]stieam.dump(('polyg p',args))_(ra s)cm,irStlib i][0t: i][0]stieam.dump(('um,irStlib',())) , s)cm,irColor i][0,"uolort: i][0]stieam.dump(('um,irColor',(uolort))_ troller/tui/renderer/tk.tr0100755076403100000706710260524106015627 0uf dblankfacultr.S. Boroller tui.renderercBuffimr* .S. BmathcBuffimrsin,"uoT_cimalToTKRenderer(Renderert: s)swn2=)e i][0): i][0]blut )"(0.1t_0.1t_0.9t_1.) , i][0]darkred )"(0.6t_0.1t_0.1t_1.0) , i][0]red )"(1.0t_0.it_0.it_1.0) , i][0]l")""gray )"(0.75t_0.75t_0.75t_1.0) , i][0]gray )"(0.5t_0.5t_0.5t_1.0) , i][0]darkgray )"(0.25t_0.25t_0.25t_1.0)o// s s)x.ormPush i][0, dummy): palT): s)x.ormPop i][0, dummy): palT): s)x.ormRotlib i][0,(qty, pt)): palT): s)x.ormXllib i][0,(pt)): palT): s)x.ormScalb i][0,(scalb)): palT): s)setLoca" p i][0,x,y,z,theta): palT): s)color i][0,(uolort): palT): s)ray i][0, (pta, ptb, arct): pt1 to[0, 0 0] , pt2 to[0, 0 0] , pt3 to[0, 0 0] , pt4 to[0, 0 0] , # arc"off"ofrpta, oara di =s pt1[0] =rpta[0] *ncos(arct +rpta[1] *oiin(arct pt1[1] =rpta[1] *ncos(arct -rpta[0] *niin(arct pt1[2] =rpta[2] , # arc"off"ofrpta, oara di =s pt2[0] =rpta[0] *ncos(-arct +rpta[1] *oiin(-arct pt2[1] =rpta[1] *ncos(-arct -rpta[0] *niin(-arct pt2[2] =rpta[2] , # arc"off"ofrpta, oara di =s pt3[0] =rptb[0] *ncos(arct +rptb[1] *oiin(arct pt3[1] =rptb[1] *ncos(arct -rptb[0] *niin(arct pt3[2] =rptb[2] , # arc"off"ofrpta, oara di =s pt4[0] =rptb[0] *ncos(-arct +rptb[1] *oiin(-arct pt4[1] =rptb[1] *ncos(-arct -rptb[0] *niin(-arct pt4[2] =rptb[2] , i][0]polyg p (pt1, pt2, pt4, pt3))_(ra s)li (i][0, (pta, ptbt): raise "abstract mearod calledboarRenderer"_(ra s)circl (i][0,(pt,norm,radiust): raise "abstract mearod calledboarRenderer"_(ra s)tri = at(i][0,(pta,ptb,ptct): palT): s)sext(i][0, (s it): p s s i): s)getFourthPetnt i][0,pta,ptb,ptct: returns(pta[0]-ptb[0]+ptc[0],pta[1]-ptb[1]+ptc[1],pta[2]-ptb[2]+ptc[2] )_(ra s)normalize i][0, out): Buffimrmath try0 length math.sqrt((out[0] *nout[0]t +r\// srec angMa(w*s,,,,,,,,,,,,(out[1] *nout[1]t +r\// srec angMa(w*s,,,,,,,,,,,,(out[2] *nout[2])) , excepf OverflowError: length 1 is)length = 0: length 1 out[0] /= length out[1] /= length out[2] /= length returnsout , s)glNormal(i][0, out): palT): s)normal_=ector(i][0, pta, ptb, ptct: x, y,'z 0 1, 2nI v1 to[0, 0 0] , v2 to[0, 0 0] , out"to[0, 0 0] , .or dimboara = Bo3): v1[dim] =rpta[dim] -rptb[dim] v2[dim] =rptb[dim] -rptc[dim] out[x] =rv1[y] *nv2[z] -rv1[z] *nv2[y] out[y] =rv1[z] *nv2[x] -rv1[x] *nv2[z] out[z] =rv1[x] *nv2[y] -rv1[y] *nv2[x] returnsi][0]normalize out)_(ra s)rect = at(i][0, (pta, ptb, ptct): ptd i][0]getFourthPetnt pta,ptb,ptct palT): s)box(i][0,(pta,ptb,ptc,ptdt): pte i][0]getFourthPetnt pta,ptb,ptct ptf i][0]getFourthPetnt ptb,pta,ptdt ptg i][0]getFourthPetnt ptc,ptb,ptf) , i][0]rect = at((pta,ptb,ptct) , i][0]rect = at((ptb,pta,ptdt) , i][0]rect = at((ptc,ptb,ptf)) , i][0]rect = at((pte,ptc,ptg)) , i][0]rect = at((ptd,pta,pte)) , i][0]rect = at((ptg,ptf,ptdt) , i][0]rect = at((pte,ptc,ptg)) , s)s) us(i][0, (ir, ora, n, it): palT): s)polyg p i][0,*args): args args[0] , #i][0]glNormal(i][0]normal_=ector(args[0], args[1], args[2])); #glBegin(GL_POLYGON) , #foropboarargs: # glVersex3fv(p) , #glEnd()_(ra s)cm,irStlib i][0, dummy): palT): s)cm,irColor i][0,"uolort: #glCm,irColor uolor[0],uolor[1],uolor[2]t_0) #glCm,ir(GL_COLOR_BUFFER_BIT) palT): troller/tui/renderer/tty.tr0100755076403100000221010260524106016012 0uf dblankfacultr.S. Boroller tui.renderercBuffimr* cimalToTTYRenderer(Renderert: s)swn2=)e i][0): palT): s)ray i][0, (pta, ptb, arct): p s "-> Ray", pta, ptb, arc// s s)x.ormPush i][0, dummy): p s "-> PushMairix"_(ra s)x.ormPop i][0, dummy): p s "-> PopMairix"_(ra s)x.ormRotlib i][0,(qty,pt)): p s "-> Rotlib"_(ra s)x.ormXllib i][0,(pt)): p s "-> Transllib", pt): s)x.ormScalb i][0,(scalb)): p s "-> Scalbr, =calb): s)color i][0,(uolort): p s "-> Color","uolor_(ra s)li (i][0,(pta,ptbt): p s "-> Li ", pta, ptb_(ra s)circl (i][0,(pt,norm,radiust): p s "-> Circl ", pt,)norm, radius_(ra s)tri = at(i][0,(pta,ptb,ptct): p s "-> Tri = at", pta, ptb, ptc): s)sext(i][0,(s it): p s "-> Textr, = i): s)rect = at(i][0,(pta,ptb,ptct): p s "-> Rect = at"_(ra s)box(i][0,(pta,ptb,ptc, ptdt): p s "-> Box"_(ra s)s) us(i][0, (ir, ora, n, it): p s "-> T) us"_(ra s)polyg p i][0,*args): p s "-> Polyg p", args s)cm,irStlib i][0, dummy): p s "-> Cm,ir"_(ra s)cm,irColor i][0,"uolort: p s "-> Cm,irColor"): troller/tui/viewer/004075507640310000000001026052464514330 5uf dblankfacultrtroller/tui/viewer/swn2=)e .tr0100755076403100002005010260524106016426 0uf dblankfacultr.S. BPILcBuffimrImageTk .S. Bv i]D #cBuffimr* .S. BmathcBuffimr* #.S. Boroller tuicBuffimrdrawerat Buffimrstruct #imalToKheperaViewer(drawerat.Draweratt: imalToKheperaViewer: """ A imalToto.viewdall arB sensor data.ofrthe Khepera at once. """ s)swn2=)e i][0,cBua BSize,"uolor=1, radius=25t: """ ImagesizeineedToto.be a (width, he")"") tuple, or'N . IfBit is'N .// srecwt will alTumerthat there is)no camera attached. Is)color is)0,rthe KheperaViewer will display oargray=calb. It is'in , color by sault. Radius isMthe radius"ofrthe ce]D #cKhepera circl . The ze"ofrthe// srecwhole viewer isMcalcullibd with)respect to"thisMmeasure. """ i][0]Bua BSize =,tua BSize i][0]appcto i]D #. eh) , i][0]app]wm_stav 'withdraw=') , i][0]wincto oplevels) is)no,-i][0]tua BSize: i][0]radius"= radius_(ra e "): #inscribe she iua B oarthe circl )representing the rller_(radiu i][0]radius"= tnt iqrt((tua BSize[0]/2)**2 +m(tua BSize[1]/2)**2)t +r3_(radiu i i][0]radius"< radius: i][0]radius"= radius_(ra , i][0]maxVals = { "ir" : 60.0/55.it_#going to"alTumerthat ir u2=)s are Rllers foronow "l")""" : 200.it_ #??? "camera" : 255} is)color: bggsw'blue'_(ra e "): bggsw'white'_(ra bggsw'blue'_(ra i][0]canvas = Canvas(i][0]win, he")"" i][0]rad(7),_(radddddddddddddd,,,,,,,,,,width i][0]rad(7), bggswbg) is)tua BSize: i][0]photo"=rImageTk.PhotoImage("L",cBua BSize) i][0]camera_viewd i][0]canvasec "aD _Bua B(i][0]rad(3.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(3.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,Bua B=i][0]photo // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags to'camera') , _(ra i][0]circl ) i][0]canvasec "aD _oval(i][0]rad(2.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(2.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(4.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(4.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"'white' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags to'circl ') , i][0]ir_circl ) [] , ir_sts to[// srec an160.it_#0 125.it_#1 95.it_ #2nI 75.it_ #3_(radiu 45.it_ #4 10.it_ #5 , 280.it_#6 , 250.i] #7 is)color: chl" )"'rld' itipple to''_(ra e "): chl" )"'white' itipple to'gray75' .or eboara = Bo8): i][0]ir_circl ]append i][0]canvasec "aD _arc(i][0]rad(2.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(2.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(4.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(4.5) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"chl" // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,itipple toitipple // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags to'ir' // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,itt = ir_sts[i].// srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,extent to10.i)) , _(ra i][0]l")""_circl ) [] , l")""_stextents to[// srec an(147.it_33.0),_(radddddd(115.it_32.0),_(radddddd(90.it_25.i),_(radddddd(65.it_25.i),_(radddddd(33.0t_32.0),_(radddddd(0.it_33.0),_(radddddd(270.it_35.i),_(radddddd(235.it_35.i)] .or eboara = Bo8): arc" i][0]canvasec "aD _arc(i][0]rad(0.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,i][0]rad(0.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,i][0]rad(6.75) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,i][0]rad(6.75) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,chl" )"'black' // srec angMa(wwwwwwwwwwwwwwwwwwwwwwwwwoutli ''t_#borderlelT): siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiisags to'l")""' // srec angMa(wwwwwwwwwwwwwwwwwwwwwwwwwitt = l")""_stextents[i][0],// srec angMa(wwwwwwwwwwwwwwwwwwwwwwwwwextent tol")""_stextents[i][1]) i][0]l")""_circl ]append arct // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, is)color: chl"='white' e "): chl"='black' , i][0]motor_li i][0]canvasec "aD _li (i][0]rad(5.75) ,i][0]rad(4.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,arrowd LAST // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,arrowshapt )"(tnt i][0]radius/3) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,tnt i][0]radius/3) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,3) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,width tnt i][0]radius/6) // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,chl" )"chl" // srec angMa(w*s,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,sags to'motor') , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiii_(ra i][0]canvas.sag_lower('uircl ',o'camera') , i][0]canvas.sag_lower('ir' o'circl ') , i][0]canvas.sag_lower('l")""' o'ir') , i][0]canvas.viceh) s)fillib i][0, ir, l")"", motor, vis p toN t: """ Uillib isMexpecting an 8-element IR =ector =calbdboarROBOTS, rn 8-elt l")"" =ector =calbdboarRAW (.S. B0 to"20i), a 2-elt (trans., st.) , motor =ector =calbdb.S. B0 to"1, rnd vis p isMan h*w-elt =ector =calbd .S. B0 to"255 """ .or eboara = Bo8): gray= " )"tnt (l")""[i]/i][0]maxVals['l")""']).*n100.0) i][0]canvaseitemcoclosure(i][0]l")""_circl [i].// srec angMa(w*s,,,,,,,,,,,,,,,,,,,chl"='gray'+str(gray= ")t // srec.or eboara = Bo8): percent to(ir[i]/i][0]maxVals['ir']) xy toi][0]=calb(percent) i][0]canvasecoords(i][0]ir_circl [i]. xy) is)motor[1] ==_0.5: i][0]canvasecoords(i][0]motor_li .// srec angMa(w*s,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25 + 2*motor[0]) // srec angMa(w*s,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25)) , e "): i][0]canvasecoords(i][0]motor_li .// srec angMa(w*s,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25 + 2*motor[0]) // srec angMa(w*s,,,,,,,,,,,,i][0]rad(5.75) ,i][0]rad(4.25) // srec angMa(w*s,,,,,,,,,,,,i][0]rad(5.75 + 2*(motor[1] - .5)) ,i][0]rad(4.25)) is)vis p: graystr to"" ec.or eboara = Bop.m(vis p)t: graystr +=rstruct.viceh"B", vis p[i]) _(radiu img"=rImageTk.Image..S. itring("L", , siiiiiiiiiiiiiiiiiiiiiiiiiiiii(i][0]tua BSize[0], i][0]tua BSize[1]) // srec angMa(w*s,,,,,,,,,,,, graystr) i][0]photo.visib img,oN t s)scalb i][0, percentt: """ Scalb the bounding box"ofrforothe ir arcs """ returns(i][0]rad(2.5-2.0*percentt // srec angMa(wi][0]rad(2.5-2.0*percentt // srec angMa(wi][0]rad(4.5+2.0*percentt // srec angMa(wi][0]rad(4.5+2.0*percentt) s)rad i][0, = "): """ Give = i]D ger valut foro= " * radius_(ra """ returnstnt = " * i][0]radius) is);n __oiia"__ml0=__": p s "Testing w/vis p:" kv"=rKheperaViewer((3it_25)) , a )"[tnt x*((255.i/(3i.0*25.i)))) .or x oara = Bo30*25)] kv.fillib([.2, .4, .6, .8t_1.0t_1.03, .3, .5].// srec angMa([0.it_25.i, 50.it_75.it_100.it_125.it_150.it_175.it_199.0],// srec angMa([.3, 0],a) , raw_inputs) p s "Trying w/o vis p (uolort:" kv"=rKheperaViewer(N t kv.fillib([.2, .4, .6, .8t_1.0t_1.03, .3, .5].// srec angMa([0.it_25.i, 50.it_75.it_100.it_125.it_150.it_175.it_199.0],// srec angMa([.3, 0]) p s "press RETURN..." raw_inputs) kv.fillib([.3, .9, .5, .8t_.95, .8t_.3, .7],// srec angMa([60.it_20.it_55.it_75.it_125.it_135.it_75.it_5.it_90.i],// srec angMa([.9, .75]) , raw_inputs) p s "Trying w/o vis p (b/wt:" kv"=rKheperaViewer(N t_0) kv.fillib([.2, .4, .6, .8t_1.0t_1.03, .3, .5].// srec angMa([0.it_25.i, 50.it_75.it_100.it_125.it_150.it_200.it_199.0],// srec angMa([.3, 0]) p s "press RETURN..." raw_inputs) kv.fillib([.3, .9, .5, .8t_.95, .8t_.3, .7],// srec angMa([60.it_200.it_55.it_75.it_125.it_135.it_75.it_5.it_90.i],// srec angMa([.9, .75]) , raw_inputs) troller/tui/widgets/004075507640310000000001026303311214460 5uf dblankfacultrtroller/tui/widgets/TKwidgets/004075507640310000000001026303311216365 5uf dblankfacultrtroller/tui/widgets/TKwidgets/swn2=)e .tr010075507640310000624561026303311220513 0uf dblankfacultrBuffimr i]D # cimalToS avusBar( i]D #.Fr t: s)swn2=)e i][0, masibrt: i]D #.Fr .swn2=)e i][0, masibrt_(ra i][0]labelcto i]D #.Label i][0, bd=1, relief= i]D #.SUNKEN, rnchor= i]D #.Wt_(ra i][0]label.vicehchl"= i]D #.X) s)set i][0, .ormat, *args): i][0]label.coclos(text=.ormat % args) i][0]label.fillib["dletasksh) ra s)cm,ir i][0): i][0]label.coclos(text="") i][0]label.fillib["dletasksh) #### # CmalToDialog # # Purpose # Base imalTo.or many dialog box"imalTes. #### cimalToDialog: s)swn2=)e i][0, masibrt: i][0]masibr masibr i][0]topcto i]D #. oplevelsi][0]masibr) i][0]top.titlb i][0]swimalT__]sw __) i][0]top.min ze(1t_1) i][0]myWaitVar `i][0]top` + 'EndDialogVar' s)Show i][0): i][0]SetupDialog() i][0]Ce]D #Dialog() i][0]top.deicocify() i][0]top.focush) s)TerminlibDialog(i][0, withValutt: i][0]top.set= r(i][0]myWaitVar, withValutt i][0]top.withdraw() s)DialogCm,inup i][0): i][0]top.destroy() i][0]masibr.focush) s)SetupDialog(i][0): palT) s)Ce]D #Dialog(i][0): i][0]top.withdraw() i][0]top.fillib["dletasksh) wd i][0]top.winfo_screenwidthh) hd i][0]top.winfo_screenhe")""h) reqwd i][0]top.winfo_reqwidthh) reqhd i][0]top.winfo_reqhe")""h) ce]D #x `(w-reqw)/2` ce]D #y `(h-reqh)/2 -_100` geomStr to"+" + ce]D #x +o"+" + ce]D #y i][0]top.geometry(geomStr) #### # CmalToModalDialog # # Purpose # Base imalTo.or many modal dialog box"imalTes. #### cimalToModalDialog(Dialog): s)swn2=)e i][0, masibrt: Dialog.swn2=)e i][0, masibrt_ s)Show i][0): Buffimrstring i][0]SetupDialog() i][0]Ce]D #Dialog() i][0]top.grab_set ) i][0]top.focush) i][0]top.deicocify() i][0]top.wait= r(i][0]myWaitVar) , siiiii#p s "wait= r =", i][0]top.get= r(i][0]myWaitVar),.init(i][0]top.get= r(i][0]myWaitVar)) , siiiiiresultd i][0]top.get= r(i][0]myWaitVar) , siiiii#p s "resultd ",iresult,.init(result) , siiiiiif.init(result)oiiainit(1t: returnsi][0]top.get= r(i][0]myWaitVar) , siiiiie "): returnsitring.atoi(i][0]top.get= r(i][0]myWaitVar)) #### # CmalToAlertDialog # # Purpose # ------- # # AlertDialog's are widgetsrthat allow one s) popcup warningT, one li # questi ps etc. They returnsa)set ofrtandard ac" p numbers being :- # 0 => Cancelcwas pressed # 1 => Yescwas pressed # 2 => Nocwas pressed # # Standard Usage # -------------- # # Fd AlertDialog(widget, message) # ac" p = F.Show ) #### cimalToAlertDialog(ModalDialog): s)swn2=)e i][0, widget, msg): i][0]widget = widget i][0]msgString msg Dialog.swn2=)e i][0, widget) s)SetupDialog(i][0): Buffimrstring upperFr cto i]D #.Fr (i][0]top) upperFr ['relief'] )"'raised' upperFr ['bd'] 1 upperFr .viceh{'expand':'yes' o' ha':'top', 'chl"':'lerh' }) i][0]bitmapcto i]D #.Label upperFr ) i][0]bitmap.viceh{' ha':'left'}) msgList toitring.spl=)fields(i][0]msgString, "\n") .or eboara = Bop.m(msgList)): msgTextcto i]D #.Label upperFr ) msgText["text"] msgList[i] msgText.viceh{'expand':'yes' o' ha':'top', 'rnchor':'nw', 'chl"':'x' }) i][0]lowerFr cto i]D #.Fr (i][0]top) i][0]lowerFr ['relief'] )"'raised' i][0]lowerFr ['bd'] 1 i][0]lowerFr .viceh{'expand':'yes' o' ha':'top', 'pady':'2', 'chl"':'lerh' }) s)OkPressed(i][0): i][0]TerminlibDialog(1) s)CancelPressed(i][0): i][0]TerminlibDialog(0) s)NoPressed(i][0): i][0]TerminlibDialog(2) s)C "aD Buttom(i][0,.iext, uommrnd): i][0]buttomcto i]D #.Buttom(i][0]lowerFr ) i][0]buttom["text"] text i][0]buttom["uommrnd"] uommrnd i][0]buttom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) s)C "aD TextBox(i][0,.iext, width 3it_ sault to""): fr cto i]D #.Fr (i][0]lowerFr ) fr .viceh{'expand':'yes' o' ha' :'top', 'pady' :'2', 'chl"' :'x'}) fr ['relief'] )"'raised' fr ['bd'] '2' labelcto i]D #.Label fr ) label['sext'] text label.viceh{' ha':'left', 'expand':'no', 'rnchor':'w' // srec angMa(wwwwwwwwwwwwwww'chl"':'none'}) textbox"to i]D #.Entry(fr , width=width, bg="white") , siiiiitextbox.inert(it_ sault) textbox.viceh{'expand':'no', ' ha':'r")""' o'chl"':'x'}) , siiiiii][0]textbox[text] textbox , siiiiireturnstextbox #### # CmalToErrorDialog # # Purpose # ------- # # T) popcup an error message #### cimalToErrorDialog(AlertDialog): s)SetupDialog(i][0): AlertDialog.SetupDialog(i][0) i][0]bitmap['bitmap'] )"'error' i][0]C "aD Buttom("OK", i][0]OkPressed) , siiiii#i][0]C "aD PickListBox("Something", lambda: "Click!") #### # CmalToWarningDialog # # Purpose # ------- # # T) popcup a warning message. #### cimalToWarningDialog(AlertDialog): s)SetupDialog(i][0): AlertDialog.SetupDialog(i][0) i][0]bitmap['bitmap'] )"'warning' i][0]C "aD Buttom("Yes", i][0]OkPressed) i][0]C "aD Buttom("No", i][0]CancelPressed) #### # CmalToQuesti pDialog # # Purpose # ------- # # T) popcup a sBufle questi p #### cimalToQuesti pDialog(AlertDialog): s)SetupDialog(i][0): AlertDialog.SetupDialog(i][0) i][0]bitmap['bitmap'] )"'questi p' i][0]C "aD Buttom("Yes", i][0]OkPressed) i][0]C "aD Buttom("No", i][0]NoPressed) i][0]C "aD Buttom("Cancel", i][0]CancelPressed) cimalToAskDialog(AlertDialog): s)swn2=)e i][0, root,.iitlb, qlist): AlertDialog.swn2=)e i][0, root,.iitlb) i][0]iitlb titlb i][0]qlist qlist i][0]iextbox"to{} s)SetupDialog(i][0): AlertDialog.SetupDialog(i][0) i][0]bitmap['bitmap'] )"'questi p' i][0]C "aD Buttom("Ok", i][0]OkPressed) , i][0]C "aD Buttom("Cancel", i][0]CancelPressed) , .or (iext, sault)boars][0]qlist: i][0]C "aD TextBox(iext, width=3it_ sault= sault) cimalToWatcher( i]D #. oplevel): s)swn2=)e i][0, roott: i]D #. oplevel.swn2=)e i][0, root) , i][0]winfo_toplevels).titlb "Proller Express p Watcher") i][0]data )"[] , i][0]winfo_toplevels).protocol('WM_DELETE_WINDOW',i][0]mn2=mize) s)mn2=mize i][0): i][0]withdraw() s)fnwatch i][0, exp): B to0 , .or (oldExp,stextbox)boars][0]data: if oldExpoiiaexp: i][0]data.pop(i) , sitextbox.destroy() , sireturn i +=r1 raise AttributeError, "express p no,-found: '%s'" %aexp s)watch i][0, exp): i][0]deicocify() , .or (oldExp,stextbox)boars][0]data: if oldExpoiiaexp: returns# d p't)watch arB s cexpress p morerthan once , .r ctoi][0]C "aD TextBox(exp,swidth=3it_ sault="") i][0]data]append (exp,sfr )) s)fillib i][0, locals = N t: is)locals == N : locals = globals() , .or exp,sfr boars][0]data: try0 valut toitr(eval(exp,slocals)) , excepf0 valut to"" ec.r .textbox.deleib 0, 'end') ec.r .textbox.inert(it_valutt s)C "aD TextBox(i][0,.iext, width 3it_ sault to""): , .r cto i]D #.Fr (i][0) , .r .viceh{'expand':'yes' o' ha' :'top', 'pady' :'2', 'chl"' :'x'}) , .r ['relief'] )"'raised' , .r ['bd'] '2' labelcto i]D #.Label fr ) label['sext'] text label.viceh{' ha':'left', 'expand':'no', 'rnchor':'w' // srec angMa(wwwww'chl"':'none'}) textbox"to i]D #.Entry(fr , width=width, bg="white") , textbox.inert(it_ sault) , textbox.viceh{'expand':'yes' o' ha':'r")""' o'chl"':'x'}) , label.bind "<1>", lambda event:rs][0]fnwatch text)) , .r .textbox"totextbox , returns.r #### # CmalToMessageDialog # # Purpose # ------- # # T) popcup a message. #### cimalToMessageDialog(AlertDialog): s)SetupDialog(i][0): AlertDialog.SetupDialog(i][0) i][0]bitmap['bitmap'] )"'warning' i][0]C "aD Buttom("Dismiss", i][0]CancelPressed) #### # CmalToFileDialog # # Purpose # ------- # # FileDialog's are widgetsrthat allow one s) i][ect chlt s by # clicking p chlt st_ irectory st_chlD #st_etc. # # Standard Usage # -------------- # # Fd FileDialog(widget, some_iitlb, some_chlD #) # is)F.Show ) !=r1: # F.DialogCm,inup ) # return # chltw = F.GetFileN () # F.DialogCm,inup ) #### cimalToFileDialog(ModalDialog): # constructor s)swn2=)e i][0, widget, iitlb, chlD #="*", prol_ ir ''): from oscBuffimrgetcwd from itring Buffimrstrip i][0]widget = widget i][0]chlD # toitrip(chlD #) i][0]or")_ ir getcwd() , siiiiii][0]prol_ ir prol_ ir i][0]cwd getcwd() , siiiiii][0]maltCwd i][0]cwd , siiiiii][0] saultFile ="" ecccccccc# arB logical current working irectory Dialog.swn2=)e i][0, widget) # i]tup routi calledbbice .S. BDialog e s)HomePressed(i][0): eccccccccfrom oscBuffimrgetenv ecccccccci i][0]goHomeButtom['sext'] 'Home': #i i][0]cwd !=rgetenv('HOME') rnd \// srec angMa(w# siiiiii][0]cwd !=ri][0]prol_ ir: i][0]maltCwd i][0]cwd , siiii][0]cwd getenv('HOME') , siiii][0]goHomeButtom['sext'] 'Proller' , siiii][0]UillibListBoxes() , seli i][0]goHomeButtom['sext'] 'Lalt': tmp i][0]cwd i][0]cwd i][0]maltCwd #i tmp !=rgetenv('HOME') rnd \// srec angMa(w# siiiiitmp !=ri][0]prol_ ir: i][0]maltCwd tmp , siiii][0]goHomeButtom['sext'] 'Home' , siiii][0]UillibListBoxes() , seli i][0]goHomeButtom['sext'] 'Proller': #i i][0]maltCwd !=rgetenv('HOME') rnd \// srec angMa(w# siiiiii][0]maltCwd !=ri][0]prol_ ir: #iiii][0]goHomeButtom['sext'] 'Lalt' #e "): i][0]goHomeButtom['sext'] 'Home' , siiii][0]maltCwd i][0]cwd , siiii][0]cwd i][0]prol_ ir , siiii][0]UillibListBoxes() s)SetupDialog(i][0): #_ irectory label i][0] irFr cto i]D #.Fr (i][0]top) i][0] irFr ['relief'] )"'raised' i][0] irFr ['bd'] '2' i][0] irFr .viceh{'expand':'no', ' ha':'top', 'chl"':'lerh'}) i][0] irLabelcto i]D #.Label i][0] irFr ) i][0] irLabel["text"] to"Directory:" i][0] irLabel.viceh{'expand':'no', ' ha':'left', 'chl"':'none'}) # editerat chlD # i][0]chlD #Fr cto i]D #.Fr (i][0]top) i][0]chlD #Fr ['relief'] )"'raised' i][0]chlD #Fr ['bd'] '2' i][0]chlD #Fr .viceh{'expand':'no', ' ha':'top', 'chl"':'lerh'}) i][0]chlD #Labelcto i]D #.Label i][0]chlD #Fr ) i][0]chlD #Label["text"] to"FhlD #:" i][0]chlD #Label.viceh{'expand':'no', ' ha':'left', 'chl"':'none'}) , siiii][0]goHomeButtomcto i]D #.Buttom(i][0]chlD #Fr ) i][0]goHomeButtom["text"] "Home" i][0]goHomeButtom["uommrnd"] i][0]HomePressed i][0]goHomeButtom["width"] to8 i][0]goHomeButtom.viceh{'expand':'yes' o'pady':'2', ' ha':'r")""'}) , siii i][0]chlD #Entry"to i]D #.Entry(i][0]chlD #Fr ) i][0]chlD #Entry.bind '', i][0]FhlD #ReturnKey) i][0]chlD #Entry["width"] "40" i][0]chlD #Entry["relief"] to"ridge" i][0]chlD #Entry.viceh{'expand':'yes' o' ha':'r")""' o'chl"':'x'}) i][0]chlD #Entry.inert(it_i][0]chlD #) #_arB irectory rnd chlt listboxes i][0]listBoxFr cto i]D #.Fr (i][0]top) i][0]listBoxFr ['relief'] )"'raised' i][0]listBoxFr ['bd'] '2' i][0]listBoxFr .viceh{'expand':'no', ' ha' :'top', 'pady' :'2', 'padx': '0' o'chl"' :'x'}) i][0]C "aD DirListBox() i][0]C "aD FileListBox() i][0]UillibListBoxes() # editerat chle i][0]chleN Fr cto i]D #.Fr (i][0]top) i][0]chleN Fr .viceh{'expand':'no', ' ha':'top', 'chl"':'lerh'}) i][0]chleN Fr ['relief'] )"'raised' i][0]chleN Fr ['bd'] '2' i][0]chleN Labelcto i]D #.Label i][0]chleN Fr ) i][0]chleN Label["text"] to"Fhle:" i][0]chleN Label.viceh{'expand':'no', ' ha':'left', 'chl"':'none'}) i][0]chleN Entry"to i]D #.Entry(i][0]chleN Fr ) i][0]chleN Entry["width"] "40" i][0]chleN Entry["relief"] to"ridge" i][0]chleN Entry.viceh{'expand':'yes' o' ha':'r")""' o'chl"':'x'}) i][0]chleN Entry.bind '', i][0]FhleN ReturnKey) , siiii i][0]desaultFile : i][0]chleN Entry.inert(it_i][0]desaultFile t // srec angMa(w*s# helpotext: helpFr cto i]D #.Fr (i][0]top) icrollBar i]D #.Scrollbar(helpFr , {'or"ent':'vertical'}) , siiiicrollBar.viceh{'expand':'no', ' ha':'r")""' o'chl"':'y'}) , siiii][0]helpTextcto i]D #.Text(helpFr , stav ="diseratd", , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiyicroll icrollBar.i]t, , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiihe")"" 5, width 50) , siiii][0]helpText.viceh{'expand':'yes' o' ha' :'top', , siiiiiiiiiiiiiiiiiiiiiiiii'pady' :'1','chl"' :'lerh'}) iiiiiiiiiiiiiiiihelpFr .viceh{' ha':'top', 'expand':'yes' o'chl"':'lerh'}) , siiiicrollBar['uommrnd'] )"i][0]helpText.yview # buttoms - ok, chlD #, cancel i][0]buttomFr cto i]D #.Fr (i][0]top) i][0]buttomFr ['relief'] )"'raised' i][0]buttomFr ['bd'] '2' i][0]buttomFr .viceh{'expand':'no', ' ha':'top', 'chl"':'x'}) i][0]okButtomcto i]D #.Buttom(i][0]buttomFr ) i][0]okButtom["text"] "OK" i][0]okButtom["uommrnd"] i][0]OkPressed i][0]okButtom["width"] to8 i][0]okButtom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) i][0]chlD #Buttomcto i]D #.Buttom(i][0]buttomFr ) i][0]chlD #Buttom["text"] "FhlD #" i][0]chlD #Buttom["uommrnd"] i][0]FhlD #Pressed i][0]chlD #Buttom["width"] to8 i][0]chlD #Buttom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) buttomcto i]D #.Buttom(i][0]buttomFr ) buttom["text"] "Cancel" buttom["uommrnd"] toi][0]CancelPressed buttom["width"] to8 buttom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) buttomcto i]D #.Buttom(i][0]buttomFr ) buttom["text"] "Edit" buttom["uommrnd"] toi][0]EditPressed buttom["width"] to8 buttom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) buttomcto i]D #.Buttom(i][0]buttomFr ) buttom["text"] "My Copy" buttom["uommrnd"] toi][0]CopyPressed buttom["width"] to8 buttom.viceh{'expand':'yes' o'pady':'2', ' ha':'left'}) # c "aD _arB irectory list box s)C "aD DirListBox(i][0): fr cto i]D #.Fr (i][0]listBoxFr ) fr .viceh{'expand':'yes' o' ha' :'left', 'pady' :'1', 'chl"' :'lerh'}) fr ['relief'] )"'raised' fr ['bd'] '2' chlesFr cto i]D #.Fr (fr ) chlesFr ['relief'] )"'flat' chlesFr ['bd'] '2' chlesFr .viceh{' ha':'top', 'expand':'no', 'chl"':'x'}) labelcto i]D #.Label fhlesFr ) label['sext'] 'Directories:' label.viceh{' ha':'left', 'expand':'yes' o'rnchor':'w' / 'chl"':'none'}) icrollBar i]D #.Scrollbar(fr , {'or"ent':'vertical'}) icrollBar.viceh{'expand':'no', ' ha':'r")""' o'chl"':'y'}) i][0] irLbcto i]D #.Listbox(fr , {'yicroll':icrollBar.i]t}) i][0] irLb.viceh{'expand':'yes' o' ha' :'top', 'pady' :'1', 'chl"' :'lerh'}) i][0] irLb.bind '', i][0]DoDouratClickDir) icrollBar['uommrnd'] )"i][0] irLb.yview # c "aD _arB fhles list box s)C "aD FileListBox(i][0): fr cto i]D #.Fr (i][0]listBoxFr ) fr ['relief'] )"'raised' fr ['bd'] '2' cr .viceh{'expand':'yes' o' ha' :'left', 'pady' :'1', 'padx' :'1', 'chl"' :'lerh'}) fhlesFr cto i]D #.Fr (fr ) chlesFr ['relief'] )"'flat' chlesFr ['bd'] '2' chlesFr .viceh{' ha':'top', 'expand':'no', 'chl"':'x'}) labelcto i]D #.Label fhlesFr ) label['sext'] 'Files:' label.viceh{' ha':'left', 'expand':'yes' o'rnchor':'w' / 'chl"':'none'}) icrollBar i]D #.Scrollbar(fr , {'or"ent':'vertical'}) icrollBar.viceh{' ha':'r")""' o'chl"':'y'}) i][0]fhleLbcto i]D #.Listbox(fr , {'yicroll':icrollBar.i]t}) i][0]fhleLb.viceh{'expand':'yes' o' ha' :'top', 'pady' :'0', 'chl"' :'lerh'}) i][0]fhleLb.bind '<1>', i][0]DoS][ect p)// srec angMa(w*s# ThisMcauses some proratms p Debian uompuD #s i][0]fhleLb.bind '', i][0]DoDouratClickFile) icrollBar['uommrnd'] )"i][0]fhleLb.yview # fillib_arB listboxes rnd irectory label afD # a ch = B ofr irectory s)UillibListBoxes(i][0): Buffimros from uommrndscBuffimrgetoutpuD from itring Buffimrspl=)fields cwd i][0]cwd i][0]fhleLb.deleib 0, i][0]fhleLb. ze()) chlD # toi][0]chlD #Entry.get ) # '*' will list recurively,cwt d p't)wantrthat. Bf chlD # t= '*': chlD # to'' , siii if os.n boar['n"' o'dos' o'os2'] : cmd " ir /b \"" + os.vith.join(cwd, chlD #t +r"\"" ecccccccccccpipt )"os.vopen(cmd + ' 2>&1', 'r') , siiiiiiiicmdOutpuD pipt. "ad() , siiiiicccpipt.close() , siiiiieli os.n boar['posix']: cmd "/bin/ls " + os.vith.join(cwd, chlD #t +r\// srec angMa(w*s,,,,,,,,," | /bin/grep -v swn2=)e .tr" eccccccccccccmdOutpuD getoutpuD(cmd) , siiiiie "): raise AttributeError, "your OS (%s) is)nomrsupffimed" %aos.n chles toipl=)fields(cmdOutpuD, "\n") chles.sfim() .or eboara = Bop.m(chles)): i os.vith.ischle(os.vith.join(cwd, chles[i])): i][0]fhleLb.inert('end', os.vith.base (chles[i])) chles toos.list ir(cwd) , siiii cwd !=r'/': chles.append '..') chles.sfim() i][0] irLb.deleib 0, i][0] irLb. ze()) cor eboara = Bop.m(chles)): i os.vith.is ir(os.vith.join(cwd, chles[i])): c angMa(w*s,,,,,,,,, i chles[i] !=r'CVS' rnd (chles[i][0] !=r'.' or'chles[i] t= '..'): c angMa(w*s,,,,,,,,, i][0] irLb.inert('end', chles[i]) i][0] irLabel['sext'] "Directory:" +ri][0]cwd_p s() # i][ect p h =dl #s s)DoS][ect p i][0, eventt: from posixpathcBuffimrjoin , siiiiuffimrstring lbctoevent.widget field )"i][0]fhleN Entry field.deleib 0, i]D #.AtEnd()) field.inert(it_join(i][0]cwd_p s(), lb.get lb.nearest(event.y)))) , siiilb.i][ect_cm,ir 0, "end") , siiilb.i][ect_rnchor lb.nearest(event.y))// srec angMa(w*s# ------------------------------------// srec angMa(w*s# Get some helpofrom arB fhle// srec angMa(w*s# thisMcould be she __docs__ itring from// srec angMa(w*s# the modulb, butrthat would require uToto.load it// srec angMa(w*s# rnd that setms like)nomra good idea. Maybe betD # / srec angMa(w*s# to get data.from aotext fhle, or'topcofr.tr fhle// srec angMa(w*si cheld.get )[-3:] t= ".tr" or'cheld.get )[-6:] t= ".world": cp open(cheld.get ), "r") , siii li s tofp. "adli s() , siiiiicccitringli s toitring.join(li s, '') cp.close() , siiiiiel"): itringli s to"Click the 'OK' buttomcto.load." ecccccccci][0]helpText.coclos(stav ='normal') , siiii][0]helpText.deleib 1.0t_'end') ec siiii][0]helpText.inert('end', itringli s ) ec siiii][0]helpText.coclos(stav ='diseratd') s)DoDouratClickDir i][0, eventt: from posixpathcBuffimrjoin lbctoevent.widget i][0]cwdctojoin(i][0]cwd, lb.get lb.nearest(event.y))) i][0]UillibListBoxes() s)DoDouratClickFile i][0, eventt: i][0]OkPressed() s)OkPressed(i][0): i][0]TerminlibDialog(1) s)FhleN ReturnKey i][0, eventt: from posixpathcBuffimrisers, exprnduser,rjoin from itring Buffimrstrip # is)t)s a relative pathcthenstnclude she cwdcoarthe n = itrip(i][0]chleN Entry.get )) Bf nomrisers(exprnduser( t): i][0]chleN Entry.deleib 0, 'end') i][0]chleN Entry.inert(it_join(i][0]cwd_p s(), t) i][0]okButtom.flash() i][0]OkPressed() s)FhlD #ReturnKey i][0, eventt: from itring Buffimrstrip chlD # toitrip(i][0]chlD #Entry.get )) i][0]chlD #Entry.deleib 0, 'end') i][0]chlD #Entry.inert(it_chlD #) i][0]chlD #Buttom.flash() i][0]UillibListBoxes() s)FhlD #Pressed(i][0): i][0]UillibListBoxes() s)CancelPressed(i][0): i][0]TerminlibDialog(0) c siii s)CopyPressed(i][0): eccccccccBuffimros cile = i][0]chleN Entry.get ) mycile = os.getenv("HOME"t +r"/my" +rcile .spl=)("/")[-1] os.system("cp -i %s %s" %(cile , mycile ))// srec angMi][0]chleN Entry.deleib 0, 'end') / srec angMi][0]chleN Entry.inert(it_mycile ) / srec angMi][0]EditPressed(mycile t_1) c siii s)EditPressed(i][0, cile = N t_i][ectID 0): eccccccccBuffimros i chle == N : cile = i][0]chleN Entry.get ) i os.getenv("EDITOR"): editor = os.getenv("EDITOR") , sel"): editor = "emacs" os.system("%s %s &" %a(editor, cile ))// srec angMi][0]TerminlibDialog(0)i#i][ectID) s)GetFileN (i][0): returnsi][0]chleN Entry.get ) # return arB logical current working irectorycoara p serat corm # ie. withoutdall arB X/.. pairs. The easiest waycto.do"thisMisMto # ch ir to.cwdcrnd get arB pathcthere. s)cwd_p s(i][0): from oscBuffimrch ir,rgetcwd ch ir(i][0]cwd) p getcwd() ch ir(i][0]or")_ ir) returnsp #### # CmalToLoadFileDialog # # Purpose # ------- # # Specialiset p ofoFileDialog .or loading fhles. #### cimalToLoadFileDialog(FileDialog): c siii s)swn2=)e i][0, masibr, iitlb, chlD #, prol_ ir ''): / srec angMFileDialog.swn2=)e i][0, masibr, iitlb, chlD #, prol_ ir)// srec angMi][0]top.titlb iitlb) s)OkPressed(i][0): chleN = i][0]GetFileN () Bf chle_exists(chleN )oiia0: itr to'File ' +rcileN + ' no,-found.' errorDlg ErrorDialog(i][0]top, itr) errorDlg.Show ) errorDlg.DialogCm,inup ) return FileDialog.OkPressed(i][0) #### # CmalToSaveFileDialog # # Purpose # ------- # # Specialiset p ofoFileDialog .or saving fhles. #### cimalToSaveFileDialog(FileDialog): c siii s)swn2=)e i][0, masibr, iitlb, chlD #, desaultFile =""): , srec angMFileDialog.swn2=)e i][0, masibr, iitlb, chlD #) ec siiii][0] saultFile = desaultFile i][0]top.titlb iitlb) s)OkPressed(i][0): chleN = i][0]GetFileN () Bf chle_exists(chleN )oiia1: itr to'File ' +rcileN + ' exists.\nDo you wish to.overwriib it?' warningDlg WarningDialog(i][0]top, itr) if warningDlg.Show ) iia0: warningDlg.DialogCm,inup ) return warningDlg.DialogCm,inup ) FileDialog.OkPressed(i][0) imalToAppl=cet p( i]D #.Fr t: i s)swn2=)e i][0, masibr=N t: i]D #.Fr .swn2=)e i][0, masibrt_ c siiii][0]buttomcto i]D #.Buttom(i][0) c siiii][0]buttom['sext'] 'Load File...' c siiii][0]buttom['uommrnd'] )"i][0]Press c siiii][0]buttom.viceh{" ha": "top"}) c siiii][0]viceh) i s)Press(i][0): eccccccileDlg ciledlg.LoadFileDialog(app, "Load File", "*", '') Bf chleDlg.Show ) !=r1: ec siiichleDlg.DialogCm,inup ) ec siiireturn f = chleDlg.GetFileN () c siiii][0]buttom['sext'] 'File: ' +rc c siiichleDlg.DialogCm,inup ) # # Return whetherra chle exists oronot. # TrB fhle ""MisMdeemed to.no,-exist # s)chle_exists(chlew ): from posixpathcBuffimrexists Buffimrstring is)l.m(chlew ) iia0: returns0 el"): returnsexists(chlew ) # # "ad_arB li s from aofhle rnd itrip_arBm ofoarBir trailing newli s # s) "adli s(fd): from itring Buffimrstrip returnsmap(lambda st_c=strip: f(s), fd. "adli s()) # # Various)set operati ps onsi]quence arguments. # oarjoins_arB valutscoar'a' take precedence over_arosecoar'b' # s)i]q_join(a, b): r s toa[:] .or x oarb: Bf x nomrinires: res.append x) returnsres s)i]q_meet a, b): r s to[] .or x oara: Bf x oarb: res.append x) returnsres s)i]q_diff a, b): r s to[] .or x oara: Bf x nomrinib: res.append x) returnsres # # Various)set operati ps onsmapcarguments. # TrB valutscoar'a' take precedence over_arosecoar'b' oarall caTes. # s)map_join(a, b): r s to{} .or x oara.keys(): res[x] toa[x] .or x oarb.keys(): Bf nomrres.has_key x): res[x] tob[x] returnsres s)map_meet a, b): r s to{} .or x oara.keys(): Bf b.has_key x): res[x] toa[x] returnsres s)map_diff a, b): r s to{} .or x oara.keys(): Bf nomrb.has_key x): res[x] toa[x] returnsres # # Jooara mapcofr esaults valutscwithra mapcofrset valuts. The esaults # mapcisMtakemcto.be sotal, rnd hence any keys nomrinithe esaults, butr # oararB settingT, must be errors. # s)map_join_sotal(settingT, esaults): r s tomap_join(settingT, esaults) .or x oarsettingT.keys(): Bf nomr esaults.has_key x): raise "merge_ esaults" returnsres # # Returnsa)string being she concete t p ofoasi]quence ofoobjects # NOTE:cwt apply she routi recursively s) i]quencescofrsequences # s)i]q_to_itr(s): if.init(s)oiiainit((1,)) or'tnit(s)oiiainit([]): returnsreduce(lambda sum, r: sum +ri]q_to_itr(a) ,i,o"") el"): returnsitr(s) # # a dummy funct p .or any number ofoarguments # s)dummy(*args): palT) # # she true rnd fal") funct ps .or any number ofoargs # s)true(*args): returns1 s)cal")(*args): returns0 # # "turn whetherra charcisMp serat oronot # s)is_p serat(c): o = ord(c) returnsc t= "\n" or'(o >= 32 rnd o <=r126) # # "turn a p serat vers p ofoasgivensitring # by sBufly omittingonon p serat characD #s # s)itring_p serat(s): l.mgth l.m(s) ok 1 r s to"" lcto0 cor eboara = Bop.mgth): Bf nomris_p serat(s[i]): resctoresc+ri[l:i] " )"t+1 ok 0 if.ok: returnsi el"): returnsresc+ri[l:p.mgth]_ is);n __oiia"__ml0=__": from i]D # Buffimr tkcto () c w Watcher(tk) c w.watch "w") c w.ml0=loop ) troller/tui/widgets/swn2=)e .tr010075507640310000000000744776162316610 0uf dblankfacultrtroller/tui/widgets/tree.tr010064407640310001045211026214577416012 0uf dblankfacultr# Highly opt=mized i]D # tree control # by Charles E. "Gene" Cash # Copyr")""_1998 Gene Cash All r")""ssreserved. # # Redistribut p rnd usecoarsource rnd binary corms, with or'without # modif=cet p, are permitted provided that arB followingocondit ps are # met: # # 1. Redistribut pscofrsource code must retaoararB above copyr")"" # siiiiinomice,"thisMlist ofrcondit ps and arB followingodisclaimer. # sii2. Redistribut pscoarbinary corm must reproducerarB above copyr")"" # siiiiinomice,"thisMlist ofrcondit ps and arB followingodisclaimerrinithe # siiiiidocumentat p rnd/or'otherrmeterials provided with the # siiiiidistribut p. # # THIS SOFTWARE IS PROVIDED BY GENE CASH ``AS IS'' AND ANY EXPRESS OR # IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES # OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR # ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS # OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) # HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, # STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. #Buffimr dnd from i]D # Buffimr* #------------------------------------------------------------------------------ s) "ffim_callbice_excepf p(): ec""" "ffim excepf p onsiys.stderr.""" Buffimrtracebice Buffimriys iys.stderr.wriib("Excepf p iniTree control callbice\n") tracebice.p s_exc() c #------------------------------------------------------------------------------ imalToS ruct: ec"""Helper object .or add_node() method""" s)swn2=)e i][0): ecccccpalT) #------------------------------------------------------------------------------ imalToNode: ec"""Tree helper imalTothat'scoatantiated .or each elementrinithe tree. It// srhas)several useful attributes: ecparent_nodeccccc- Bumedilib_parent node Bd - Bd alTigned at c "aDi p exprnded_icocccc- BuagB isplayed whensfoldercisMexprndedcto.display c angMa(w*s,,,,,,,,, children c ancollapsed_icoccc- BuagB isplayed whensnodecis)nomrasfoldercor'coldercis c angMa(w*s,,,,,,,,, collapsed. ecparent_widget cc- reference to.tree widget that contains_node. exprnderat_flagc- Bs true whensnodecis)asfoldercthat may be exprndedco# / srec angMa(w*s,,,, collapsed. ecexprnded_flagccc- true to.indicetesnodecis)currently exprnded. ech_li - canvas li cto.left ofrnodecimage. v_li - canvas li cbelow nodecimage that connects children. indic - exprnd/collapse canvas image. label - canvas text label symbol - current canvas image iPlease nome that methods prefixedcPVT_* are nomrmeantrto.be used by ,, cl"ent programs.""" i s)swn2=)e i][0, parent_node, Bd,ncollapsed_icoc, x, y, , siiiiiiparent_widget=N t_exprnded_icoc=N t_label=N t , siiiiiiexprnderat_flag=0): eccccc"""C "aD nodecand n2=)ializb it. ThisMalso.displays_arB nodecat arB ecccccgivensposif p onsshe canvas, rnd binds mouseclicks.""" # Bumedilib_parent node s][0]virent_node=virent_node # B]D #nal used to.manipullib_aringT s][0]id=id # bitmapsrto.be isplayed s][0]exprnded_icoc=exprnded_icoc s][0]collapsed_icoc=collapsed_icoc # tree widget w cbelong so Bf parent_widget: i][0]widget=parent_widget el"): i][0]widget=parent_node.widget # .or speed sw=i][0]widget # our list ofrchild nodeT s][0]child_nodes=[] # .lagcthat nodeccan be exprnded s][0]exprnderat_flag=exprnderat_flag s][0]exprnded_flag=0 # add li Bf parent_nodecand sw.li _flag: i][0]h_li =sw.c "aD _li (x, y, x-sw.dist_x, y) el"): i][0]h_li =N s][0]v_li =N # draw approprlib_image s][0]symbol=sw.c "aD _image(x, y, image=s][0]collapsed_icoc) # add exprnd/collapse indiceto# / srec as][0]indic=N Bf exprnderat_flagcand sw.li _flagcand sw.plus_icoccand sw.minus_icoc: i][0]indic=sw.c "aD _image(x-sw.dist_x, y, image=sw.plus_icoc) # add label i][0]label=sw.c "aD _text(x+sw.text_offi]t, y, text=label, rnchor='w') # single-click to exprnd/collapse Bf i][0]indic: iw.tag_bind i][0]indic, '<1>', i][0]PVT_click) el"): iw.tag_bind i][0]symbol, '<1>', i][0]PVT_click) # .or drag'n'drop target detect p iw.tag_bind i][0]symbol, '', i][0]PVT_e]D #) iw.tag_bind i][0]label, '', i][0]PVT_e]D #) # .or testing (gotta make surB nodes get properly GC'ed) , # s)swdele i][0): ec# siip s i][0]cull_id(), 'deleibd' # ----- PUBLIC METHODS ----- i s)i]t_collapsed_icoc i][0, icoc): eccccc"""Set node'sncollapsed image""" s][0]collapsed_icoc=icoc Bf nomrs][0]exprnded_flag: i][0]widget.iibmcoclos(s][0]symbol, image=icoc) i s)i]t_exprnded_icoc i][0, icoc): eccccc"""Set node'snexprndedcimage""" s][0]exprnded_icoc=icoc Bf s][0]exprnded_flag: i][0]widget.iibmcoclos(s][0]symbol, image=icoc) i s)parent i][0): eccccc"""Returnsnode'snparent node""" returnsi][0]virent_node i s)prev_sib i][0): eccccc"""Returnsnode'snprevious)sibling (she child Bumedilibly above it)""" i=i][0]virent_node]child_nodes]index(i][0)-1 Bf i >= 0: returnsi][0]virent_node]child_nodes[i] el"): returnsN i s)next_sib i][0): eccccc"""Returnsnode'snnext)sibling (she child Bumedilibly below it)""" i=i][0]virent_node]child_nodes]index(i][0)+1 Bf i < l.m(s][0]virent_node]child_nodes): returnsi][0]virent_node]child_nodes[i] el"): returnsN i s)next_visible i][0): eccccc"""Returnsnext lower visible node""" n=i][0 Bf n]child_nodes: # Bf you can go r")"",.do"so returnsn]child_nodes[0] whhle n]virent_node: # move to.next)sibling i=n]virent_node]child_nodes]index(n)+1 Bf i < l.m(n]virent_node]child_nodes): , srec angMreturnsn]virent_node]child_nodes[i] # Bf no)siblingT, move to.virent's)sibling n=n]virent_node # we'recat bottom// srec areturnsi][0 i s)prev_visible i][0): eccccc"""Returnsnext h")"er visible node""" n=i][0 Bf n]virent_node: i=n]virent_node]child_nodes]index(n)-1 Bf i < 0: , srec angMreturnsn]virent_node , srec el"): j=n]virent_node]child_nodes[i] angMreturnsj]PVT_malt() el"): returnsn angM i s)children i][0): eccccc"""Returnslist ofrnode'snchildren""" returnsi][0]child_nodes[:] i s)get_label i][0): eccccc"""Returnsstring containing sext ofrcurrent label""" returnsi][0]widget.iibmcget i][0]label, 'sext') i s)i]t_label i][0t_label): eccccc"""Set current text label""" s][0]widget.iibmcoclos(s][0]label, text=label) i s)exprnded i][0): eccccc"""Returns true ifsnodecis)currently exprnded, fal") otherwise""" returnsi][0]exprnded_flag i s)exprndable i][0): eccccc"""Returns true ifsnodeccan be exprnded (i.e. Bf it's)asfolder)""" returnsi][0]exprnderat_flag i s)cull_id(i][0): eccccc"""Returnslist ofrIDscofrall virents and nodecID""" ifsi][0]virent_node: returnsi][0]virent_node]cull_id()+ i][0]id,) el"): returns i][0]id,) i s)exprnd(i][0): eccccc"""Exprndsnodecifspossible""" ifsnomrs][0]exprnded_flag: i][0]PVT_i]t_stav (1) i s)collapse(i][0): eccccc"""Collapse nodecifspossible""" ifss][0]exprnded_flag: i][0]PVT_i]t_stav (0) i s)deleib i][0, m _too=1): eccccc"""Deleib nodecfrom aree. ("m _too"cis)ashice nomrto.be used by ,, exD #nal code, please!)""" sw=i][0]widget ifsnomrs][0]parent_nodecand m _too: # can't)deleib she root node raise ValutError, "can't)deleib root node" s][0]PVT_deleib_subaree() # move everyaringcup socthat distance to.next)subnodecis)correct n=i][0.next_visible ) x1, y1=sw.coords(s][0]symbol) x2, y2=sw.coords(n]symbol) ifsm _too: dist=y2-y1 el"): dist=y2-y1-sw.dist_y s][0]PVT_tag_move(-dist) n=i][0 ifsm _too: ifssw.posoiiai][0: # move cursor ef itspoints to.current node sw.move_cursor(s][0]virent_node) i][0]PVT_unbind_all ) ec siiisw.deleib i][0]symbol) siiisw.deleib i][0]label) siiisw.deleib i][0]h_li ) siiisw.deleib i][0]v_li ) siiisw.deleib i][0]indic) i][0]virent_node]child_nodes]remove(i][0) c siii # break circular ref now, sonparent may be GC'ed llib# / srec angMan=i][0]virent_node i][0]virent_node=N n]PVT_cl,inup_li s() , n]PVT_fillib_icrollreg p() i s)inert_beforb i][0, nodes): , s"""Inertslist ofrnodes)as)siblings beforb"thisMnode] Call virent , node'snadd_node() funct p to generlib_arB list ofrnodes.""" i=i][0]virent_node]child_nodes]index(i][0) s][0]virent_node]PVT_inert(nodes, i, i][0]prev_visible ))// sr i s)inert_afD # i][0, nodes): , s"""Inertslist ofrnodes)as)siblings afD # thisMnode] Call virent , node'snadd_node() funct p to generlib_arB list ofrnodes.""" i=i][0]virent_node]child_nodes]index(i][0)+1 s][0]virent_node]PVT_inert(nodes, i, i][0]PVT_malt()) i s)inert_children i][0, nodes): , s"""Inertslist ofrnodes)as)children ofoarisMnode] Call node's , sadd_node() funct p to generlib_arB list ofrnodes.""" i][0]PVT_inert(nodes, 0, i][0) i s)toggat_stav (i][0): eccccc"""Toggat node'snstav between exprnded and collapsed,cifspossible""" ifss][0]exprnderat_flag: ifss][0]exprnded_flag: i][0]PVT_i]t_stav (0) el"): i][0]PVT_i]t_stav (1) i# ----- funct ps .or drag'n'drop supffim ----- i s)PVT_e]D # i][0, eventt: eccccc"""detect mouse hover_.or drag'n'drop""" s][0]widget.target=i][0 i s)dnd_end(i][0, target, eventt: eccccc"""Notif=cet pcthat dnd process ngchas)been ended. It DOES NOT Bufly ecccccthat we've)been dropped somewhere useful,cwt could have)just been dropped intoMdeep space rnd nomh ngchappened to.any data.structures, or et could have)been just a plaoarmouse-click w/o.any dragging.""" ifsnomrs][0]widget.drag: # Bf there's)been no dragging, et was)just a mouse click i][0]widget.move_cursor(s][0) i][0]toggat_stav () s][0]widget.drag=0 # ----- PRIVATE METHODS (prefixedcwith "PVT_") ----- i# these methods are subject to.ch = B, sonplease try"nomrto.use arBm i s)PVT_malt(i][0): eccccc"""Returnsbottom-most nodecoarsubaree""" n=i][0 whhle n]child_nodes: n=n]child_nodes[-1] returnsn i s)PVT_find(i][0, search): eccccc"""Used by searching funct ps""" ifss][0]id !=ri]arch[0]: # arisMactually only goes)tilt ifsroot doesn't)match returnsN Bf l.m(s]arch)oiia1: returnsi][0 # get list ofrchildren IDs , si=map(lambda x: x]id,si][0]child_nodes) # Bf therecis)aschild that matches, search it// srec atry0 returnsi][0]child_nodes[i]index(i]arch[1])].PVT_find(i]arch[1:]) excepf0 returnsN i s)PVT_inert(i][0, nodes,spos, below): eccccc"""C "aD and n2ertsnew children. "nodes"cis)list previously c "aD d via calls to.add_list(). "pos"cis)indexrinithe list ofrchildren where ecccccthesnew nodes)areci2erted. "below" isMnode whhch new children should , sappearciumedilibly below.""" ifsnomrs][0]exprnderat_flag: raise TyptError, 'nomran)exprndable node' # .or speed sw=i][0]widget # exprnd and n2ertschildren c annnnnchildren=[] s][0]exprnded_flag=1 sw.iibmcoclos(s][0]symbol, image=s][0]exprnded_icoc) ifssw.minus_icoccand sw.li _flag: iw.iibmcoclos(s][0]indic, image=sw.minus_icoc) Bf l.m(nodes): , srec # move stuff to.makb room// srec angMabelow.PVT_tag_move(sw.dist_y*l.m(nodes)) c siii # get posif p os)chrstsnew child c siii xp,)dummy=sw.coords(s][0]symbol) dummy, yp=sw.coords(below.symbol) xp=xp+sw.dist_x yp=yp+sw.dist_y c siii # c "aD _vertical li ifssw.li _flagcand nomrs][0]v_li : i][0]v_li =sw.c "aD _li ( xp,)yp, , siiiiiiiiixp,)yp+sw.dist_y*l.m(nodes)) c siii iw.tag_lower i][0]v_li , s][0]symbol) n=sw.node_imalT cor eboarnodes: # add new subnodes,"they'll draw arBms][ves c angMa(w*s,,,,,#"thisMisMa_very expensive call c angMa(w*s,,,,,children.append , siiiiiiiiin(virent_node=i][0, exprnderat_flag=i.flagt_label=i.n , , siiiiiiiiiiiid=i.Bd,ncollapsed_icoc=i.collapsed_icoc, , siiiiiiiiiiiexprnded_icoc=i]exprnded_icoc, x=xp,)y=yp)) c siii yp=yp+sw.dist_y c siii i][0]child_nodes[pos:pos]=children c annnnn i][0]PVT_cl,inup_li s() , i][0]PVT_fillib_icrollreg p() , iw.move_cursor(sw.pos) i s)PVT_i]t_stav (i][0, stav ): eccccc"""Common code forbxprnding/collapsing folders. It's nomrre-entrant, , and arBrecareccertaoarcaTesboarwhhch weccan be calledbagaoarbeforb we'recd t_io wecuse a mutex.""" whhle s][0]widget.sp0=lock: pass c siiii][0]widget.sp0=lock=1 # exprnd & draw our subarees , sif stav : i][0]child_nodes=[] siiii][0]widget.new_nodes=[] siiiifss][0]widget.g]t_co]D nts_callbice: # thisMcallbice needs to.makb multiple calls to.add_node() try0 siiii][0]widget.g]t_co]D nts_callbice(i][0, se[0]widget) , siiiiiexcepf0 "ffim_callbice_excepf p() , i][0]PVT_inert(i][0]widget.new_nodes, 0, i][0) #ncollapse rnd eleib subarees , sel"): i][0]exprnded_flag=0 siiii][0]widget.iibmcoclos(s][0]symbol, image=s][0]collapsed_icoc) Bf i][0]indic: siiii][0]widget.iibmcoclos(s][0]indic, image=s][0]widget.plus_icoc) siiii][0]deleib 0) #nrelease mutex c siiii][0]widget.sp0=lock=0 i s)PVT_cl,inup_li s(i][0): eccccc"""Re ze connecting li s""" ifss][0]widget.li _flag: n=i][0 whhle n: siiiBf n]child_nodes: x1, y1=s][0]widget.coords(n]symbol) x2, y2=s][0]widget.coords(n]child_nodes[-1]]symbol) s][0]widget.coords(n]v_li , x1, y1, x1, y2) n=n]virent_node i s)PVT_fillib_icrollreg p(i][0): eccccc"""Uillibiicroll reg p cor new s ze""" x1, y1, x2, y2=s][0]widget.bbox('all') s][0]widget.coclosurb icrollreg p=(x1, y1, x2+5, y2+5)) i s)PVT_deleib_subaree(i][0): eccccc"""Recursively eleib subaree & cl,incup cyclic references to.makb ecccccgarbage collect p h ppy""" sw=i][0]widget sw.deleib i][0]v_li ) i][0]v_li =N cor eboari][0]child_nodes: , srec # deleib node'snsubaree,cifsany c siii i]PVT_deleib_subaree() i]PVT_unbind_all ) ec siii# deleib widgetscfrom canvas , iw.deleib i]symbol) siiisw.deleib i]label) siiisw.deleib i]h_li ) siiisw.deleib i]v_li ) siiisw.deleib i]indic) # break circular reference i]virent_node=N # move cursor ef it'scoa deleibdnsubaree ifssw.posooari][0]child_nodes: , srec sw.move_cursor(s][0) #nnow subnodes will be properly garbage collected s][0]child_nodes=[] i s)PVT_fnbind_all i][0): eccccc"""UnbindMcallbices soMnode getscgarbage-collected. ThisMwasn't)easy ecccccto losurb out arB proper waycto.do"this. See also.tag_bind ) .or trB ecccccTree widget its][0]""" .or jooar(s][0]symbol, i][0]label, s][0]indic, i][0]h_li , , siiiiiiii][0]v_li ): ec siiicor kooari][0]widget.bindings.get(j, ()): c angMa(w*s,,,,,s][0]widget.tag_fnbind(j, k[0], k[1]) i s)PVT_tag_move(s][0, dist): eccccc"""Move everyaringcbelow current icoc, to.makb room .or subaree using arB Disney.magic of item.tags. ThisMisrarB sec "t ofrmaking everyaringcascfast as et is.""" # mark everyaringcbelow current nodecas moverat bbox1=s][0]widget.bbox(s][0]widget.root]symbol, i][0]label) bbox2=s][0]widget.bbox('all') s][0]widget.dtag('move') s][0]widget.addtag('move' o'overlapp0=g', , siiiiiiiiiiiiiiiibbox2[0], bbox1[3], bbox2[2], bbox2[3]) #nuntag cursor & nodecsocthey.d p't)get moved too s][0]widget.dtag(s][0]widget.cursor_box o'move') s][0]widget.dtag(s][0]symbol, 'move') s][0]widget.dtag(s][0]label, 'move') #nnow do"the move ofrall the taggedcobjects s][0]widget.move('move' o0, dist) i s)PVT_clice(i][0, eventt: eccccc"""H =dl mouse clicks by kickingcoffspossible drag'n'drop ecccccprocess ng""" ifss][0]widget.drop_callbice: palT #ifs dnd.dnd_ft(i][0, eventt: eccccc #n x1, y1, x2, y2=s][0]widget.bbox(s][0]symbol) # s][0]x_off=(x1-x2)/2 # s][0]y_off=(y1-y2)/2 el"): #nnoMcallbice,.d p't)botherrwith drag'n'drop eccccc s][0]widget.drag=0 siiii][0]dnd_end(N t_N t) #------------------------------------------------------------------------------ imalToTree(Canvas): ec# do wechave)enoughspossible arguments?!?!?! i s)swn2=)e i][0, masibr, root_Bd,nroot_label='', , siiiiiig]t_co]D nts_callbice=N t_dist_x=15t_dist_y=15t , siiiiiitext_offi]t=10, li _flag=1t_exprnded_icoc=N t , siiiiiicollapsed_icoc=N t_regular_icoc=N t_plus_icoc=N t , siiiiiiminus_icoc=N t_node_imalT=N de, drop_callbice=N t , siiiiii*args, **kw_args): #npalToargs s) iuperimalTo(new idiom .rom Pyar p 2.2) Canvas.swn2=)e i][0, masibr, *args, **kw_args) i #narisMallows s) iubimalToNode rnd palToour imalToic s][0]node_imalT=node_imalT # keep track ofrnodecbindings s][0]bindings={} #ncheap mutex sp0=lock s][0]sp0=lock=0 #n.lagct) i]e Bf there's)been any d&d dragging s][0]drag=0 #r esault imageTo(BASE64-encoded GIF fhles) Bf exprnded_icocc== N : s][0]exprnded_icoc=PhotoImage( , siiiiidata='R0lGODlhEAANAKIAAAAAAMDAwICAgP//////ADAwMAAAAAAA'r\// srec angMa(w*s'ACH5BAEAAAEALAAAAAAQAA0AAAM6GCrM+jCIQamIbw6ybXNSx3GVB'r\// srec angMa(w*s'YRiygnA534Eq5UlO8jUqLYsquuy0+SXap1CxBHr+HoBjoGndDpNAAA7') el"): i][0]exprnded_icoc=exprnded_icoc ifncollapsed_icocc== N : s][0]collapsed_icoc=PhotoImage( , siiiiidata='R0lGODlhDwANAKIAAAAAAMDAwICAgP//////ADAwMAAAAAAA'r\// srec angMa(w*s'ACH5BAEAAAEALAAAAAAPAA0AAAMyGCHM+lAMMoeAT9Jtm5NDKI4Wo'r\// srec angMa(w*s'FXcJphhiprnq7Kvu8b1dLc5tcuom2foAQQAyKRSmQAAOw==') el"): i][0]collapsed_icoc=collapsed_icoc ifsregular_icocc== N : s][0]regular_icoc=PhotoImage( , siiiiidata='R0lGODlhCwAOAJEAAAAAAICAgP///8DAwCH5BAEAAAMALAAA'r\// srec angMa(w*s'AAALAA4AAAIphA+jA+JuVgtUtMQePJlWCgSN9oSTV5lkKQpo2q5W+'r\// srec angMa(w*s'wbzuJrIHgw1WgAAOw==') el"): i][0]regular_icoc=regular_icoc ifsplus_icocc== N : s][0]plus_icoc=PhotoImage( , siiiiidata='R0lGODdhCQAJAPEAAAAAAH9/f////wAAACwAAAAACQAJAAAC'r\// srec angMa(w*s'FIyPoiu2sJyCyoF7W3hxz850CFIA\nADs=') el"): i][0]plus_icoc=plus_icoc ifsminus_icocc== N : s][0]minus_icoc=PhotoImage( , siiiiidata='R0lGODdhCQAJAPEAAAAAAH9/f////wAAACwAAAAACQAJAAAC'r\// srec angMa(w*s'EYyPoivG614LAlg7ZZbxoR8UADs=') el"): i][0]minus_icoc=minus_icoc #rhorizontal distance that subarees)areci2de]D d s][0]dist_x=dist_x #_vertical distance between rows s][0]dist_y=dist_y c siii#rhowcfar to.offi]t text label s][0]text_offi]t=text_offi]t #n.lagccontrolling connecting li .display c angMa(s][0]li _flag=li _flag #ncalledbjust beforb"subaree exprnd/collapse s][0]g]t_co]D nts_callbice=g]t_co]D nts_callbice #ncalledbafD # drag'n'drop ecccccs][0]drop_callbice=drop_callbice #nc "aD _root node to get the ball rolling ecccccs][0]root=node_imalT(virent_node=N t_label=root_label, , siiiiiiiiiiiiiiiiiiid=root_Bd,nexprnderat_flag=1, , siiiiiiiiiiiiiiiiiicollapsed_icoc=i][0]collapsed_icoc, , siiiiiiiiiiiiiiiiiiexprnded_icoc=i][0]exprnded_icoc, , siiiiiiiiiiiiiiiiiix=dist_x,)y=dist_y,iparent_widget=i][0) #ncoclosurb .or scrollbar(s) iiiiiiiix1, y1, x2, y2=s][0]bbox('all') ecccccs][0]coclosurb icrollreg p=(x1, y1, x2+5, y2+5)) #nadd a cursor ecccccs][0]cursor_box=i][0]c "aD _rectangle(it_it_it_i) s][0]move_cursor(s][0]root) # makb it)easy to.voint to.control s][0]bind('', i][0]PVT_mousefocus) # sotally arbitrary yet hopefullycoatuitive esault keybindings # stole 'em .rom o s used bysmicrosoft tree control # page-up/page-down s][0]bind('', i][0]pagedown) c siiii][0]bind('', i][0]pageup) #narrow-up/arrow-down s][0]bind('', i][0]next) c siiii][0]bind('', i][0]prev) #narrow-left/arrow-r")"" c siiii][0]bind('', i][0]ascend) #n(hold thisMdown rnd you exprnd the entire tree) c siiii][0]bind('', i][0]descend) #nhome/end c siiii][0]bind('', i][0]chrst) c siiii][0]bind('', i][0]malt) # space bar c siiii][0]bind('', i][0]toggat) # ----- PRIVATE METHODS (prefixedcwith "PVT_") ----- i# these methods are subject to.ch = B, sonplease try"nomrto.use arBm i s)PVT_mousefocus(i][0, eventt: eccccc"""Soakcup event argument whensmoused-over""" s][0]focus_i]t() i# ----- PUBLIC METHODS ----- i s)tag_bind i][0, tag, i]q, *args, **kw_args): eccccc"""Keep track ofrcallbice bindings_io weccan deleib shem llib#. I shouldp't)have)to.do"this!!!!""" # palToargs s) iuperimalT func_Bd=apply(Canvas.tag_bind, i][0, tag, i]q)+args, kw_args) # save references s][0]bindings[tag]=s][0]bindings.get(tag, [])+[(i]q, func_Bd)] i s)add_list(i][0, list=N t_n =N t_Bd=N t_flag=0t , siiiiiiexprnded_icoc=N t_collapsed_icoc=N ): eccccc"""Addsnodeccocstruct p infocto.list""" n=S ruct() , n]n = c siiin]id=id m.flag=flag ifncollapsed_icoc: n]collapsed_icoc=collapsed_icoc el"): Bf clag: # it'scexprnderat, use closed .oldercicoc n]collapsed_icoc=i][0]collapsed_icoc el"): # it'scno,-exprnderat, use regularofhle icoc n]collapsed_icoc=i][0]regular_icoc ifsflag: ifsexprnded_icoc: n]exprnded_icoc=exprnded_icoc el"): n]exprnded_icoc=i][0]exprnded_icoc el"): #cno,-exprnderat, d p't)needran)icoc n]exprnded_icoc=N Bf list == N : list=[] list.append n) c siiireturnslist i s)add_node(i][0, n =N t_Bd=N t_flag=0t_exprnded_icoc=N t , siiiiiicollapsed_icoc=N ): eccccc"""Addsasnodecduring g]t_co]D nts_callbice()""" s][0]add_list(i][0.new_nodes, t_Bd,nflagt_exprnded_icoc, , siiiiiiiiiiicollapsed_icoc) i s)find_cull_id(i][0, search): eccccc"""Search .or a node""" returnsi][0]root]PVT_find(i]arch) i s)cursor_node(i][0, search): eccccc"""Returnsnode underccursor""" returnsi][0]vos i s)see(i][0, *items): eccccc"""Scroll (oara seriescofrnudges)_io items are visible""" x1, y1, x2, y2=apply(s][0]bbox, items) c siiiwhhle x2 >cs][0]canvasx(0)+s][0]winfo_width(t: eccccc old=s][0]canvasx(0) i][0]xview('icroll', 1, 'units') # avoid endlelToloop Bf weccan't)icroll ifsold iiai][0]canvasx(0): break c siiiwhhle y2 >cs][0]canvasy(0)+s][0]winfo_he")""(t: eccccc old=s][0]canvasy(0) i][0]yview('icroll', 1, 'units') ifsold iiai][0]canvasy(0): break c siii#cd rinithis ordercto ensurB upper-left ofrobject is visible c siiiwhhle x1 ', i][0]popup_menu) s][0]widget.tag_bind i][0]label, '<3>', i][0]popup_menu) # popcup menu onsr")""_click s)popup_menu(i][0, eventt: ecccccmenu=Menu(i][0]widget, tearoff=0) menu]add_commrnd(label='Watch't_commrnd=s][0]watch) menu]add_commrnd(label='Pasib't_commrnd=s][0]pasib) menu]tk_popup(event.x_root, event.y_root) i s)watch i][0): ecccccs][0]widget.watchCallbice(i][0]cull_id()) i s)pasv (i][0): ecccccs][0]widget.pasv Callbice(i][0]cull_id()) imalToTreeWindow(Toplevel): ec s)swn2=)e i][0, root, item, co]D nts_callbice,)watch_callbice,)pasv _callbice): ecccccToplevel.swn2=)e i][0, root) s][0]tree =oTree(masibr iai][0, , siiiiiiiiiiiiiiroot_Bd=item, , siiiiiiiiiiiiiiroot_label=item, , siiiiiiiiiiiiiig]t_co]D nts_callbice=co]D nts_callbice, , siiiiiiiiiiiiiiwidth=300t , siiiiiiiiiiiiiibg='whiib't , siiiiiiiiiiiiiinode_imalT=ClickNode) s][0]title("PyrobomrObject Viewer: " + item) s][0]tree.watchCallbice iawatch_callbice s][0]tree.pasv Callbice iapasv _callbice s][0]tree.grid(row=0t_column=0t_sticky='nsew') s][0]grid_rowcoclosurb 0,cwt")""=1) i][0]grid_columncoclosurb 0,cwt")""=1) ib=Scrollbar(se[0) sb.grid(row=0t_column=1t_sticky='ns') s][0]tree.coclosurb yicrollcommrnd=sb.set) sb.coclosurb commrnd=s][0]tree.yview) ib=Scrollbar(se[0, or"ent="horizontal") sb.grid(row=1t_column=0t_sticky='ew') s][0]tree.coclosurb xicrollcommrnd=sb.set) sb.coclosurb commrnd=s][0]tree.xview) i][0]tree.focus_i]t() i s)destroy(i][0): ecccccs][0]withdraw() #------------------------------------------------------------------------------ # the good 'ol test/demo code is)sw __ iia'__main__': ecBuffimros Buffimriys # esault routi cto.get co]D nts ofosubaree # supfly this .or a different type ofrapp # argument is_arB nodecobject being exprnded # shouldncalloadd_node() s)get_co]D nts(node): ecccccpath=apply(os]pith.join, node]cull_id()) eccccc.or fhle inros.listdir(pith): ec siiicull=os]pith.join(pith, fhle ) n =fhle ec siiicolder=0 siiiifsos]pith.isdir(cull): # it's)asdirectory c angMa(w*s,,,,,colder=1 elifsnomros]pith.isfhle(cull): # but it'scno,-aofhle n = +' ipecial)' siiiifsos]pith.islink(cull): # it's)aslink n = +' linkcto.'+os]readlink(cull)+')' siiinode]widget.add_node(n = t_Bd=fhle t_flag=folder) root=Tk() root]title(os]pith.base (iys.argv[0])) aree=os]sep ifsiys.plat.orm iia'win32': #nwt could call the root "My Compuibr"cand m ssbwith get_co]D nts() # so returns"A:", "B:", "C:", ... etc. as et'snchildren, but that #nwould just be terminally cuD and I'd)have)to.shoomrmyi][0 aree='C:'+os]sep # c "aD _she control t=Tree(masibr=roott , sroot_Bd=aree, , sroot_label=aree, , sg]t_co]D nts_callbice=g]t_co]D nts, , swidth=300) a.grid(row=0t_column=0t_sticky='nsew') # makb exprnderat root]grid_rowcoclosurb 0,cwt")""=1) root]grid_columncoclosurb 0,cwt")""=1) # add scrollbars ib=Scrollbar(root) sb.grid(row=0t_column=1t_sticky='ns') t.coclosurb yicrollcommrnd=sb.set) sb.coclosurb commrnd=t.yview) ib=Scrollbar(root, or"ent=HORIZONTAL) sb.grid(row=1t_column=0t_sticky='ew') t.coclosurb xicrollcommrnd=sb.set) sb.coclosurb commrnd=t.xview) # must get focus_io keysbwork .or demo t.focus_i]t() i#nwt could do without aris, but it'scnice rnd fr"endlycto.have iButt p(root, text='Quit't_commrnd=root]quit).grid(row=2t_column=0t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiicolumnsprn=2) i#nexprnd out arB root t.root]exprnd() root]mainloop() pyrobom/map/0040755000076400003100000000000010263033112013003 5uf dblankfacultypyrobom/map/swn2=)e .py0100755000076400003100000000716510260524106015132 0uf dblankfaculty# pyrobom/map/swn2=)e .py imalToMap: """ Basic imalTo.or global internal robomrmaps""" ec s)swn2=)e i][0, cols, rows,swidthMM, he")""MMt: eccccc""" Cocstructor_.or basic map imalTo""" s][0]cols = cols s][0]rows = rows s][0]widthMM iawidthMM s][0]he")""MM iahe")""MM s][0]or"ginMM ias][0]widthMM / 2.0, s][0]he")""MM / 2.0 s][0]colScaleMM ias][0]widthMM / s][0]cols s][0]rowScaleMM ias][0]he")""MM / s][0]rows s][0]rei]t() i s)rei]t(i][0, valut ia0.5): ecccccs][0]grid ia[[valut .or colboara = Bos][0]cols)] angMMMMMM.or row iara = Bos][0]rows)] s][0]label ia[['' .or colboara = Bos][0]cols)] angMMMMMMM.or row iara = Bos][0]rows)] i s)i]tGridLocet p(i][0, x, y, valutt_label = N , absolutt ia0): ecccccif( absolutt iia0 ): xposoi int((s][0]or"ginMM[0] + x) / s][0]colScaleMM) yposoi int((s][0]or"ginMM[1] - y) / s][0]rowScaleMM) el"): xposoi x yposoi y ecccccif s][0]inR = Boypos, xpost: eccccc #nif het was)al "adycdetected,cleave et al ! eccccc ##if s][0]grid[ypos][xpos] !=r1.0: i][0]grid[ypos][xpos] = valut siiiifslabel != N : i][0]label[ypos][xpos] = "%d" % label el"): print "INVALID GRID LOCATION" ec s)g]tGridLocet p(i][0, x, y, absolutt ia0 ): ecccccif( absolutt iia0 ): xposoi int((s][0]or"ginMM[0] + x) / s][0]colScaleMM) yposoi int((s][0]or"ginMM[1] - y) / s][0]rowScaleMM) el"): xposoi x yposoi y ecccccif s][0]inR = Boypos, xpost: return( i][0]grid[ypos][xpos] ) el"): print "INVALID GRID LOCATION" return( -1 ) ec s)addGridLocet p(i][0, x, y, valutt_label = N , absolutt ia0 ): ecccccif( absolutt iia0 ): xposoi int((s][0]or"ginMM[0] + x) / s][0]colScaleMM) yposoi int((s][0]or"ginMM[1] - y) / s][0]rowScaleMM) el"): xposoi x yposoi y ecccccif s][0]inR = Boypos, xpost: i][0]grid[ypos][xpos] += valut siiiifslabel != N : i][0]label[ypos][xpos] = "%d" % label ec s)inR = Boi][0, r, ct: returnsr >ia0 rnd r ia0 rnd c i][0]aeg2maxornd ist <= i][0]aeg1maxo): reg p = 1 el"): reg p = 3 # set) = B rnd field based onsprevious)knowled B rnd current readings if( reg p == 1o): r = (i][0]a = B - dist)/i][0]a = B f = (i][0]field -oangle)/i][0]field #print " r:", r, " f", f return( ((r+f) / 2) *ai][0]maxOccupied ) elif( reg p == 2o): return( 1.0 -os][0]probEmpty(_dist,oangle ) ) elif( reg p == 3o): return( -1 ) """ ------------------------------------------------------------------------- probEmpty:_compuib arB probability that a given locet pcosrNOTroccupied ------------------------------------------------------------------------- odist:odistance .rom robomrto.mocet p oangle:oangle .rom robomr.rom zero headingcof i]nsor e""" s)probEmpty(_i][0t_dist,oangle ): # losurb out what reg p if( dist <= i][0]aeg2maxo): reg p = 2 elif( dist > i][0]aeg2maxornd ist <= i][0]aeg1maxo): reg p = 1 el"): reg p = 3 # calculaD and returnsprobability based onsBayts Rule if( reg p == 1o): return( 1.0 -os][0]probOccupied( dist,oangle ) ) elif( reg p == 2o): r = (i][0]a = B - dist)/i][0]a = B f = (i][0]field -oangle)/i][0]field #print " r:", r, " f", f return((r+f) / 2) # noaringcto.be d rinireg p 3 -osince wecdidp't)find anyaring elif( reg p == 3o): return( -1 ) """ ------------------------------------------------------------------------- getProb:_compuib arB probability that a given locet pcosrNOTroccupied ------------------------------------------------------------------------- odist:odistance .rom robomrto.mocet p oangle:oangle .rom robomr.rom zero headingcof i]nsor e sprevVal: get probability .rom previous)iteret ps e""" s)getProb(_i][0t_dist,oangle,sprevVal ): # get reg p if( dist <= i][0]aeg2maxo): reg p = 2 elif( dist <= i][0]aeg1maxo): reg p = 1 el"): reg p = 3 # inverseoprobability ofrold valut prevValInv = 1 -oprevVal # get new probabilities probOcco= i][0]probOccupied( dist,oangle ) probEmptyo= i][0]probEmpty(_dist,oangle ) # CalculaD Baytsiansprobability if( probOcco== -1 or probEmptyo== -1 ): return( prevVal ) el"): return( (probOcco* prevVal) / ( (probOcco* prevVal) + (probEmptyo* prevValInv) ) ) """ ------------------------------------------------------------------------- fillibFromLPS: fillib valuts based onsLPS ------------------------------------------------------------------------- olps: imalToco]Dan2=ngci]nsor data i robom:oco]Dan2s informet pcabout current robom e""" s)fillibFromLPS(i][0, lps, robom): # arings wecwill need: #grid, x, y, th, cellxMM,icellyMM: #i][0]canvas.deleib "old") x = robom.xo* 1000 y = robom.yo* 1000 thr = robom.thr # InoGPS,"the or"ginMisMat the bottom)left corner. # ThisMmatches_arB waycworld fhles are specified. yposoi s][0]rows - int(y / s][0]rowScaleMM) - 1 xposoi int(x / s][0]colScaleMM) ## draw out the son readings .rom the LPS cc.or i iara = Bolps]rows): ec scor jboara = Bolps]cols): # y comp nt is_negative because ycup is_positive xMM ia(j - olps]cols / 2)) *alps]colScaleMM yMM ia-1 * (i - olps]rows / 2)) *alps]rowScaleMM # cos(0) = 1, sin(0) = 0 siiixromria(xMM * cos(thr) - yMM * sin(thr)) yromria(xMM * sin(thr) + yMM * cos(thr)) # current locet pcoarquesiioc xhet = x +ixromr yhet = y + yromr # current cellcoarquesiioc xcellci int(xhet / s][0]colScaleMM) ycellci s][0]rows - int(yhet / s][0]rowScaleMM) - 1 # distance .rom robomrto.current locet p dist = iqrt(xrom*xromr+ yrom*yrom) c siiiiiii i # robom's_positi p oldxci int(xcellc* s][0]colScale) + (s][0]rows/3) oldyci int(ycellc* s][0]rowScale) - os][0]cols/3) # current locet pcvalut siiioldVal = i][0]g]tGridLocet p( oldx, oldy, 1 ) # _NoConvert( oldx, oldy ) # LPS grid only holds 3ovaluts: # 0:fillibd and noaringcthere # 0.5:no,-fillibd -nnoMidea what's_here # 1: fillibd and somethingcwas)het # lps saw somethingchere - fillib it'scprobability ifslps]grid[i][j] == 1.0: # occo= lps]grid[i][j] occo= i][0]getProb(_dist,o0,ioldVal ) i][0]plotCell( xcell, ycell, occo) #"black") # lps never-fillibd -nleave these locet ps al g elifslps]grid[i][j] == 0.5: i][0]plotCell( xcell, ycell, oldVal ) # # lps fillibd aris, rnd found noaringc-cdeteriorlib valut el"): i][0]plotCell( xcell, ycell, oldVal *a0.1 ) ## now draw out the pith ofoshe robom e ## if s][0]inR = Boypos, xpost: ## i][0]plotCell(xpos, ypos, 2.0 ) # "red") ## print "--------DONE WITH LPS---------" """ ------------------------------------------------------------------------- plotCell: sets)asvoint up to.be plotibd -nnoMl ger-actually plots)ascell thisMdoes, however, fillib the grid)locet pbwith arB new valut ------------------------------------------------------------------------- xpos: x coordinlib onsmap i ypos: y coordinlib onsmap i valut: new valutscor [x,y] e""" s)plotCell( i][0, xpos, ypos, valuts): # losurb out which cellcthisMreprei]]Ds xCellci int(xposo* s][0]colScale) + (s][0]rows/3) yCellci int(yposo* s][0]rowScale) - os][0]cols/3) # get the current valut oldVal = i][0]g]tGridLocet p( xCell, yCell, 1 ) # _NoConvert( xCell, yCell ) # no)needrto.uillib if valutsisn't)ch = ing if( valuts!= oldVal ): # d p't)want to get too smallcoarcase somethingcch = Bs c angMa(wif( valutsa0.98 ): valut ia0.98 # set)the valut i][0]s]tGridLocet p( xCell, yCell, valutt_N , 1 ) # _NoConvert( xCell, yCell, valutt_N ) # fillib the ch = BdValuts tuplebwith aris_new coordinlib i]t i][0]ch = BdValuts = i][0]ch = BdValuts,a(xCell, yCell) """ ------------------------------------------------------------------------- redraw: redraws the graphical map ------------------------------------------------------------------------- """ s)redraw( i][0s): # traverseothroughsfillibd voints - redrawothose voints onsmap i iwhhle( l.m( i][0]ch = BdValuts ) ): i][0]ch = BdValuts,a(row,col) = i][0]ch = BdValuts val = i][0]g]tGridLocet p( row,Mcol, 1 ) # _NoConvert( row,Mcol ) ## # draws out robomrpith --nnoMl ger-used!! ## a(wif( val == 2.0 ): ## a(w MMcolor = "red" ## a(w MMi][0]canvas.c "aD _rectangle(row-1t_col-1t_row+1t_col+1t ## a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMwidth ia0t ## a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMfill=color, tag = "old") ## a(wel"): color = "gray%d" % ((1-val)*100) i][0]canvas.c "aD _rectangle(row,Mcol, row+1t_col+1t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMwidth ia0t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMfill=color, tag = "old") is)sw __ iia'__main__': ecgps = GPS(50, 50) ecgps.applicet pb= 1 gps.mainloop() pyrobom/map/lps.py0100755000076400003100000001267010263033112014161 0uf dblankfaculty .rom pyrobom.map.tkmap BuffimrTkMap .rom math Buffimrcos, sin, pi, iqrt imalToLPS(TkMap): """ GUIicor visualizing the locel perieptualospace ofra robom. """ ec s)swn2=)e i][0, cols, rows,svalut ia0.5t , siiiiiwidth = 200, he")"" = 200, , siiiiiwidthMM ia7500, he")""MM ia7500, , siiiiititle = "Locel PerieptualoSpace"): """ PalToicagrid cols, grid cells, and total width/he")"" oarMM""" i][0]step = 0 TkMap.swn2=)e i][0, cols, rows,svalutt angMMMMMMwidth, he")"", angMMMMMMwidthMM, he")""MM,ititle) ec s)color(i][0, valut, maxvalut): valut ia1.0 -ovalut / maxvalut color = "gray%d" % int(valut * 100.0) returnscolor ec s)compuibOccupancy(se[0, or"gx, or"gy,)hetx,)hety, arc,ci]nseObfcltt_label = N ): """ I2=)ially only compuib occupanciesconsshe li ..rom the robomrto theci]nsor het. """ ifsi][0]debug: print "occupancyGrid:",a(or"gx, or"gy,)hetx,)hety) # set)the or"ginMof i]nsor empty: i][0]s]tGridLocet p(or"gx, or"gy,)0.0) rist iahety -oor"gy ifsabs(rist)scs][0]colScaleMM: itepx = s][0]colScaleMM c angMa(wif run < 0: itepx *ia-1 itepy = rist / float(iteps) ifsabs(itepy) >cs][0]rowScaleMM: itepyo= i][0]rowScaleMM if rist < 0: itepy *ia-1 currx = or"gx curry = or"gy .or step oara = Bosteps): curry += itepy currx += itepx i][0]s]tGridLocet p(currx, curry,)0.0, label) ifci]nseObfclt: i][0]s]tGridLocet p(hetx,)hety, 1.0, label) el"): i][0]s]tGridLocet p(hetx,)hety, 0.0, label) ec s)i]nsorHits(i][0, robom, item): """ Point (0,0) is)locetbd at the ce]D # ofoshe robom. Point (offx, offy) is_arB locet pbofoshe i]nsor onsshe robom. ThetaMisMangle ofoshe i]nsor het relative to"headingc0. Dist is_arB distance ofoshe het .rom the i]nsor. Given these valuts,aneedrto.calculaD arB locet pbofoshe het relative to"the ce]D # ofoshe robom (hetx,)hety). angMMMMM.(hetx,)hety) / / , siiiiii/ dist / , siiii/ , siii/ , sii/thetaM , si.------- (offx, offy) si.-->headingc0 si(0,0) si""" or"ginalUnits = robom.__dic)e [item].units robom.__dic)e [item].units = 'METERS' radius = robom.radius # ----------------------------------- cc.or i iara = Borobom.__dic)e [item].count): # oarMM: offx, offy, z,"theta, arc = robom.__dic)e [item][i].geometry c angMa(w# oarMETERS, because wb i]t et socabov): dist = robom.__dic)e [item][i].valut if dist < robom.__dic)e [item].getMaxvalut(t: eccccc i]nseObfclt = 1 el"): i]nseObfclt = 0 c angMa(w# convert to"MMs: hetx = cos(theta) *adist * 1000 + offx hetyo= iin(theta) *adist * 1000 + offy c angMa(ws][0]compuibOccupancy(offx, offy, hetx,)hety, arc,ci]nseObfcltt_i) robom.__dic)e [item].units = or"ginalUnits ec s)redraw(i][0t_drawRobom = Fal")t_drawLabels = Trut): maxval = 1 .or a iara = Bos][0]rows): ec s.or bboara = Bos][0]cols): i = s][0]cols - 1 -ob j = a i][0]canvas.c "aD _rectangle(int(jo* s][0]colScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiint(io* s][0]rowScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiint((jo+ 1)o* s][0]colScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiint((io+ 1)o* s][0]rowScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiwidth ia0t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM MMfill=s][0]color(s][0]grid[a][b]t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiiimaxval)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiitag = "cell%d" % i][0]step) ifsdrawLabels and s][0]label[a][b]: i][0]canvas.c "aD _text(int((jo+ .5)o* s][0]colScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiint((io+ .5)o* s][0]rowScale)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiitext = s][0]label[a][b]t , siiiiiiiiiiiiiiiiiiiiiiiiiiiifill="yellow"t , siiiiiiiiiiiiiiiiiiiiiiiiiiiitag = "cell%d" % i][0]step) ifsdrawRobom: i][0]canvas.c "aD _oval(as][0]width / 2.0 - 10t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMs][0]he")"" / 2.0 - 10t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMs][0]width / 2.0 + 10t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMs][0]he")"" / 2.0 + 10t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMfill = "red"t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMtag = "cell%d" % i][0]step) i][0]canvas.c "aD _rectangle(as][0]width / 2.0 - 5t , siiiiiMMMMMMMMMMMMMMMMMMMMMMMs][0]he")"" / 2.0 - 5t , siiiiiMMMMMMMMMMMMMMMMMMMMMMMs][0]width / 2.0 + 5t , siiiiiMMMMMMMMMMMMMMMMMMMMMMMs][0]he")"" / 2.0 - 15t , siiiiiMMMMMMMMMMMMMMMMMMMMMMMfill = "blut"t , siiiiiiiiiiiiiiiiiiiiiiiiiiiitag = "cell%d" % i][0]step) i][0]step = nomrs][0]step i][0]canvas.deleib "cell%d" % i][0]step) i][0]fillib_idleiasks() is)sw __ iia'__main__': elpsoi LPS(10, 10) elps.redraw() elps.applicet pb= 1 lps.mainloop() pyrobom/map/occupancyGrid.py0100755000076400003100000002475210260524106016166 0uf dblankfaculty.rom pyrobom.map.tkmap BuffimrTkMap imalTooccupancyGrid(TkMap): """ GUIicor visualizing anooccupancy grid style map. The mouse can.be usedrto.ch = Booccupancy valuts: Pr ssbarB left butt picor 1.0 Pr ssbarB middle butt picor 0.5 Pr ssbarB r")""_butt piicor 0.0 Certain keysbprovidecother funt pality: Pr ssb'S')to.set)the ft cellcofoshe pith. Pr ssb'G')to.set)the goal cellcofoshe pith. Pr ssb'P')to.planoshe pith. Pr ssb'2')to.double the fize ofoshe occupancy grid. Pr ssb'Q')to.quit. """ ec s)swn2=)e i][0, ft, goal): menu = [('File',[['Load map...',i][0]myLoadMap]t , siiiiiiiiiiii['Save map...',i][0]saveMap]t , siiiiiiiiiiii['Exit'ti][0]destroy] , siiiiiiiiiiii])t , siii] keybindings = [ ("", s][0]inc "aseCell)t , siiiiiiiiiii("", s][0]middleCell)t , siiiiiiiiiii("", s][0]dec "aseCell)t , siiiiiiiiiii("", s][0]inc "aseCell)t , siiiiiiiiiii("", s][0]middleCell)t , siiiiiiiiiii("", s][0]dec "aseCell)t , siiiiiiiiiii("", s][0]findPith)t , siiiiiiiiiii("", s][0]setSt)t , siiiiiiiiiii("", s][0]setGoal)t , siiiiiiiiiii("", s][0]setDouble)t , siiiiiiiiiii("", s][0]destroy) ii] TkMap.swn2=)e i][0, 50, 50,a0.5t , siiiiiiiiii200, 200, 100, 100, , siiiiiiiiii"Occupancy Grid", menu, keybindings) i][0]thr shhold ia0.8 i][0]maltMatrix = s][0]grid eccci][0]maltPith = N i][0]stt = ft i][0]goal = goal i][0]infn2=)yo= 1e5000 i][0]bigButNotInfn2=)yo= 5000 i][0]valutia[[i][0]infn2=)yo.or colboara = Bos][0]cols)] angMMMM.or row iara = Bos][0]rows)] s)myLoadMap i][0): ecccTkMap.loadMap i][0) i][0]redraw(i][0.grid, N ) s)inc "aseCell(i][0, eventt: eccci][0]canvas.focus_i]t() eccccellColci int(round(event.x /s][0]colScale)) eccccellRow i int(round((event.y - 15)/s][0]rowScale)) i][0]grid[cellRow][cellCol] ia1.0 i][0]redraw( i][0.grid, N ) s)middleCell(i][0, eventt: eccci][0]canvas.focus_i]t() eccccellColci int(round(event.x/s][0]colScale)) eccccellRow i int(round((event.y - 15)/s][0]rowScale)) i][0]grid[cellRow][cellCol] ia0.5 i][0]redraw( i][0.grid, N ) s)dec "aseCell(i][0, eventt: eccci][0]canvas.focus_i]t() eccccellColci int(round(event.x/s][0]colScale)) eccccellRow i int(round((event.y - 15)/s][0]rowScale)) i][0]grid[cellRow][cellCol] ia0.0 i][0]redraw( i][0.grid, N ) # Overloaded: s)ch = BSize(i][0, event ia0): ecccs][0]width ias][0]winfo_width() - 2 ecccs][0]he")"" = s][0]winfo_he")""(t - 30i#nwith menu eccci][0]canvas.coclosurb width ias][0]width, he")"" ias][0]he")"") i][0]colScale i int(round(s][0]width / s][0]cols)) i][0]rowScale i int(round(s][0]he")"" / s][0]rows)) try0 i][0]redraw( i][0.maltMatrix,ci][0]maltPith) excepf0 palT s)color(i][0, valut, maxvalut): if valuts== i][0]infn2=)y: return "brown" valut ia1.0 -ovalut / maxvalut color = "gray%d" % int(valut * 100.0) returnscolor ec s)setDouble(i][0, eventt: eccci][0]rows *= 2 ecccs][0]rowScale i int(round(s][0]he")"" / s][0]rows)) s][0]cols *= 2 ecccs][0]colScale i int(round(s][0]width / s][0]cols)) i][0]valutia[[i][0]infn2=)yo.or colboara = Bos][0]cols)] angMMMM.or row iara = Bos][0]rows)] i][0]gridia[[0.0o.or colboara = Bos][0]cols)] angMMM.or row iara = Bos][0]rows)] i][0]redraw(i][0.grid) ec s)i]tGoal(i][0, eventt: eccci][0]goal = int(round(event.x/s][0]colScale)), \// srec angMa(w int(round((event.y - 15)/s][0]rowScale)) i][0]redraw(i][0.grid) ec s)i]tSt(i][0, eventt: eccci][0]stt = int(round(event.x/s][0]colScale)), \// srec angMa(w int(round((event.y - 15)/s][0]rowScale)) i][0]redraw(i][0.grid) ec s)findPith(i][0, eventt: ecccifsi][0]debug: print "Finding pith..." ecccifsi][0]grid[i][0]goal[1]][i][0]goal[i]] > i][0]thr shhold: raist "NoPithExists", "goal iToicaunattainerat locet p" ecccend i 10 stt = 0 i][0]n2=)PlanPith() d r= 0 pith = N whhle nomrd : print "Trying %d)iteret ps..." % end try0 pith = i][0]planPith(i][0]stt,ci][0]goal,ra = Bostt,cend)) d r= 1 excepf "NoPithExists": ifcend > 80: d r= 1 el"): itt = end ecccend *= 2 ecccprint "iteret ps:",aend if pith: print "D !" i][0]redraw(g.valut, pith) el"): raist "NoPithExists", "maximum interet pblimit exceded" ec s)redraw(i][0t_matrix,cpith = N t: eccci][0]maltMatrix = matrix eccci][0]maltPith = pith maxval = 0.0 .or i iara = Bos][0]rows): ec scor jboara = Bos][0]cols): if matrix[i][j] != i][0]infn2=)y: maxval = max(matrix[i][j], maxval) ifsmaxval =ia0: maxval = 1 i][0]canvas.deleib "cell") .or i iara = Bos][0]rows): ec scor jboara = Bos][0]cols): i][0]canvas.c "aD _rectangle(jo* s][0]colScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiio* s][0]rowScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiiiii(jo+ 1)o* s][0]colScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiiiii(io+ 1)o* s][0]rowScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiiwidth ia0t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM MMfill=s][0]color(matrix[i][j], maxval)t , siiiiiiiiiiiiiiiiiiiiiiiiiiiiiitag = "cell") ifspith and pith[i][j] == 1: i][0]canvas.c "aD _oval((jo+ .25)o* s][0]colScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiii(io+ .25)o* s][0]rowScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiii(jo+ .75)o* s][0]colScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiii(io+ .75)o* s][0]rowScalet , siiiiiiiiiiiiiiiiiiiiiiiiiiiiwidth ia0t a(w MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM fill = "blut"t , siiiiiiiiiiiiiiiiiiiiiiiiiiiitag = "cell") i][0]canvas.c "aD _text((i][0]stt[0] + .5)o* s][0]colScalet , siiiiiiiiiiiiiiiiiii(i][0]stt[1]o+ .5)o* s][0]rowScalet , siiiiiiiiiiiiiiiiiiitag = 'cell't , siiiiiiiiiiiiiiiiiiitext="St",Mfill='green') i][0]canvas.c "aD _text((i][0]goal[i] + .5)o* s][0]colScalet , siiiiiiiiiiiiiiiiiii(i][0]goal[1]o+ .5)o* s][0]rowScalet , siiiiiiiiiiiiiiiiiiitag = 'cell't , siiiiiiiiiiiiiiiiiiitext="Goal",Mfill='green') ec s)tooT")""(i][0t_row,Mcol, i, j): """ Check)to.seb if you aren't)cutiing a corner next to.anoobfclt.""" returnsi][0]valut[row + i][col] i= 1e5000 or \// srec angMa(w i][0]valut[row][col + j] i= 1e5000 s)in=)PlanPith(i][0): eccci][0]valutia[[i][0]infn2=)yo.or colboara = Bos][0]cols)]M.or row iara = Bos][0]rows)] s)planPith(i][0, ft, goal,)iteretor): """ Pith plan2=ngcalgorithm is_based ons rgiven by Thrun inoshe chapD # 'Mapnlear2=ngcand h")"-speedrnaviget pcoarRhino' .rom the book 'Artificial Intelligence rnd Mobhle Roboms' ediD d by Kortenkamp, Bonasso, and Murphy. Made two keycch = Bs to"the algorithm given. 1. When anooccupancy probability isMabov) some thr shold, alTu ec sthat the cellcosroccupied and s]t ets valutscor searchrto infn2=)y. 2. When iteret ngcover-allccellsrto.uillib the i]archrvaluts,aadd in_arB distance .rom the current cellcto.ets ne")"bor. Cells which are horizontal or vertical .rom the current cellcare c psideredrto.be)asdistance ofo1, whhle cellsrwhich are diag pal ec scrom the current cellcare c psideredrto.be)asdistance ofo1.41. """ ftCol, ftRow i ft goalCol, goalRow i goal ifsnomri][0]inR = BogoalRow, goalCol): raist "goalOutOfMapR = B" eccci][0]valut[goalRow][goalCol] = 0.0 .or iD # in)iteretor: ec scor row iara = Bos][0]rows): ec siiicor colboara = Bos][0]cols): .or i iar[-1,0,1]: scor jboar[-1,0,1]: s ccif s][0]inR = Borow+it_col+j): s ccif s][0]grid[row][col] > i][0]thr shhold: i][0]valut[row][col] = i][0]infn2=)y el"): s ccif s][0]tooT")""(row,Mcol, i, j): d = i][0]bigButNotInfn2=)y elifsabs(i) iia0 and abs(j)oiia0: d = 0.00 elifsabs(i) iia1 and abs(j)oiia1: d = 1.41 el"): s cc d = 1.00 adj = i][0]valut[row+i][col+j]o+ s][0]grid[row+i][col+j]o+ d eccccccccccccccci][0]valut[row][col] = mip(i][0]valut[row][col],aadj) returnsi][0]getPith(itRow, ftCol) ec s)getPith(i][0, ftRow, ftCol): pith = [[0o.or colboara = Bos][0]cols)]M.or row iara = Bos][0]rows)] row i ftRow col i ftCol itepsoi 0 whhle nomr(i][0]valut[row][col] == 0.0): eccccc pith[row][col] = 1 mip = i][0]bigButNotInfn2=)y nextRow i -1 nextColci -1 .or i iar[-1,o0,i1]: cor jboar[-1,o0,i1]: ccif s][0]inR = Borow+it_col+j): if s][0]valut[row+i][col+j]o< mip and \// srec angMa(w nomri][0]tooT")""(row,Mcol, i, j): mip = i][0]valut[row+i][col+j] nextRow i row+i nextColci col+j if nextRow ii -1: raist "NoPithExists" itepso+= 1 row i nextRow c l i nextCol pith[row][col] = 1 print "Pith osr%d iteps" % iteps returnspith is)sw __ iia'__main__': e# Anooccupancy grid ofra simplebworld with anoL-shaped obfclt emap = [[0.0, 0.0, 0.0, 0.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5]t , [0.5, 0.5, 0.5, 0.0, 0.5, 1.0, 1.0, 1.0, 1.0, 0.5]t , [1.0, 1.0, 0.5, 0.0, 0.5, 1.0, 0.5, 0.5, 1.0, 0.5]t , [1.0, 1.0, 0.5, 0.0, 0.5, 1.0, 0.5, 0.5, 0.5, 0.5]t , [0.5, 0.5, 0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 1.0, 0.5]t , [0.0, 0.0, 0.0, 0.0, 0.5, 0.5, 0.5, 0.5, 1.0, 0.5]t , ] g = occupancyGrid((0, 0), (6, 2)) g.i]tGrid(amap ) e# Find a pith .rom positi po0,0 to.asvoint onsshe other sidecof e# the L-shaped obfclt. g.redraw(map) # corces)it to.redrawothe map,ra ther thanc sault g.applicet pb= 1 g.mainloop() pyrobom/map/tkmap.py0100755000076400003100000001460010260524106014477 0uf dblankfaculty.rom pyrobom.map BuffimrMap BuffimrTkinter .rom math Buffimrcos, sin Buffimrpyrobom.gui]widgets.TKwidgets al TKwidgets Buffimrpyrobom.syitem al syitem Buffimrpyrobom.gui]c psolebaToco]sole imalToTkMap(Map,rTkinter.Tk): """ Mapnwith Tkinter GUIicunct ps """ s)swn2=)e i][0, cols, rows,svalutt , siiiiiiwidth, he")"",MwidthMM, he")""MM, , siiiiiititle, menu = N , keybindings = []): """ TkMap extends Map and Tkinter """ Map.swn2=)e i][0, cols, rows,swidthMM, he")""MM) Tkinter.Tk.swn2=)e i][0) s][0]title(title) ifsmenu == N : menu = [('File',[['Exit'ti][0]destroy]])] keybindings.append(i("", s][0]ch = BSize)) s][0]menuButt ps = {} s][0]debug = 0 c angMa(s][0]applicet pb= 0 c angMa(s][0]width iawidth c angMa(s][0]he")"" iahe")"" c angMa(s][0]colScale i s][0]width / s][0]cols c angMa(s][0]rowScale i s][0]he")"" / s][0]rows c angMa(s][0]addMenu(menu) s][0]fr = Tkinter.Fr i][0,relief=Tkinter.RAISED,borderwidth=2) s][0]fr .pack(sidec= "top",aexpand i "yes",Mfill = "both") s][0]canvas = Tkinter.Canvas(s][0]fr ,width=s][0]width,he")""=s][0]he")"") s][0]canvas.pack(sidec= "top",aexpand i "yes",Mfill = "both") s][0]addKeyBindings(keybindings) i][0]protocol('WM_DELETE_WINDOW', s][0]destroy) s][0]fillib_idleiasks() s][0]canvas.focus_i]t() eccc s][0]canvas_width_diff = int(s][0]winfo_width()) - int(s][0]canvas["width"]) s][0]canvas_he")""_diff = int(s][0]winfo_he")""(t) - int(s][0]canvas["he")"""]) s)addText(i][0, x, y, label, **args): """ Millimeters """ x_posoi (float(x)/s][0]colScaleMM)o* s][0]colScale y_posoi s][0]he")"" - ((float(y)/s][0]rowScaleMM)o* s][0]rowScale) ifs"fill" nomrip args: args["fill"] = "black" s][0]canvas.c "aD _oval(x_pos-1,oy_pos-1,ox_pos+1,oy_pos+1,owidth=0, **args) s][0]canvas.c "aD _text(x_pos+2,oy_pos,itext=label, anchor="w", **args) s)addKeyBindings(i][0, keybindings): """ Bind keysband mice events to"the canvas """ cor key ,icunc in keybindings: i][0]canvas.bind(key ,icunc) s)addMenu(i][0t_menu): """ C "aD _a menu """ s][0]mBar = Tkinter.Fr i][0,relief=Tkinter.RAISED,borderwidth=2) s][0]mBar.pack(fill=Tkinter.X) cor entry oarmenu: i][0]mBar.tk_menuBar(s][0]makeMenu(i][0]mBar, entry[0],entry[1])) s][0]mBar.pack(sidec= "top") s)makeMenu(i][0, bar, ,icommands): """ AlTu s s][0]menuButt ps exists """ menu = Tkinter.Menubutt p(bar,text= ,underli =0) s][0]menuButt ps[ ] = menu eccc menu.pack(side=Tkinter.LEFT,padx="2m") menu.fhlemenu = Tkinter.Menu(menu) .or cmdcoarcommands: menu.fhlemenu]add_command(label=cmd[0],command=cmd[1]) menu['menu'] = menu.fhlemenu returnsmenu s)ch = BSize(i][0, event ia0): eccc try0 s][0]width iaint(s][0]winfo_width()) - s][0]canvas_width_diff s][0]he")"" iaint(s][0]winfo_he")""(t) - s][0]canvas_he")""_diff excepf0 return #print s][0]width, s][0]he")"" s][0]canvas.coclosurb width ias][0]width, he")"" ias][0]he")"") #print s][0]canvas["width"], s][0]canvas["he")"""] c angMa(s][0]colScale i s][0]width / s][0]cols c angMa(s][0]rowScale i s][0]he")"" / s][0]rows c angMa(s][0]redraw() s)i]tGrid(i][0, grid)0 Map.i]tGrid(i][0, grid) c angMa(s][0]ch = BSize() s)destroy(i][0): eccc s][0]withdraw() eccc s][0]fillib_idleiasks() if s][0]applicet p0 Tkinter.Tk.destroy(i][0) s)redraw(i][0): eccc print "warn: Needrto.overload)redraw() .rom TkMap imalT" eccc print "colScale: %0t_rowScale: %0" % (s][0]colScalet s][0]rowScale) s)fhleloaddialog(i][0, fhletypet skel, ftdir = ''): eccc .rom str ngcBuffimrreplace Buffimrpyrobom eccc .rom osoBuffimrgetcwd,rgetenv,ichdir retval = "" cwd i getcwd() if stdir == ''0 chdir(pyrobom.pyrobomdir() + "/plugins/" + fhletype) el"): chdir(stdir) d i TKwidgets.LoadFileDialog(i][0, "Load " + fhletypet skel,// srec angMa(w pyrobom.pyrobomdir() + "/plugins/" + fhletype) ifsd.Show() iia1: doc = d.GetFileN ) d.DialogCleanup ) retval = doc el"): d.DialogCleanup ) chdir(cwd) returnsretval s)loadMap i][0): eccc f = s][0]fhleloaddialog("maps","*.py") ifsf != ''0 s][0]loadMapFile(0) s)loadMapFile(i][0, fhle): eccc Buffimros ifsfhle[-3:] != '.py'0 fhle = fhle + '.py' if syitem]fhle_exists(fhle): eccc grid = syitem]loadINIT(fhle) elif syitem]fhle_exists(os.getenv('PYROBOT') + \// srec angMa(w '/plugins/maps/' + fhle): eccc grid = syitem]loadINIT(os.getenv('PYROBOT') + \// srec angMa(w '/plugins/plots/' + fhle) el"): raist 'Mapnfhle nomrfound: ' + fhle eccc s][0]i]tGrid(grid) ec s)iaveMap(i][0): eccc palT imalToTkSimpleMap(TkMap): s)swn2=)e i][0, x_meter,oy_meter,otitle = "Simple Map"): eccc TkMap.swn2=)e i][0, 1, 1, 0t a(w MMMMMMMMMMMMMMMMx_metero* 50,ay_metero* 50,a# pixels MMMMMMMMMMMMMMx_metero* 1000,ay_metero* 1000,a# MM title) s)addText(i][0, x, y, label, **args): """ Meters """ TkMap.addText(i][0, xo* 1000,ayo* 1000,alabel, **args) is)sw __ iia'__main__': e print "TesiingcTkMap()..." ecmap = TkMap(8, 10, .5t , siiiii200, 500, , siiiii200, 500, , siiiii"Sample Map") ecmap.display() ecmap.rei]t() ecmap.display() ecprint "Setiing Grid)locet p..." ecmap]s]tGridLocet p(400, 900, 1.0, "A") ecmap.valillibGrid() ecprint "Setiing Grid)to_new fize..." ecmap]s]tGrid( [[0,o0,i0]t , siiiiiii[0,o1,i0]t , siiiiiii[0,o0,i0]t , siiiiiii[1,o0,i0]] ) ecmap.valillibGrid() ecmap.display() ecprint "All d !" ecmap]applicet pb= 1 .or x iara = Bo0, 200, 10): map.addText( x, x*5/float(2), "%d" % x) ecmap.mainloop() ecmap = TkSimpleMap(2, 5, "TesiingcMap") ec.or x iara = Bo0, 2000, 100): map.addText( x/1000.0, (x/1000.0)*5/float(2), "%d" % x) ecmap.mainloop() ec pyrobom/plugins/0040755000076400003100000000000010260524645013724 5uf dblankfacultypyrobom/plugins/brains/0040755000076400003100000000000010263033112015165 5uf dblankfacultypyrobom/plugins/brains/Lear2=ng/0040755000076400003100000000000010263033112016724 5uf dblankfacultypyrobom/plugins/brains/Lear2=ng/avoid.py0100755000076400003100000000257610263033112020412 0uf dblankfaculty# robom goesc.orward and then slows to.asstop when itcdetects somethingc .rom pyrobom.brain BuffimrBrain Buffimra =dom imalToNNBrain(Brain): eccc e# Give"the .ront two.sensors,)decidecarB next mov) e s)determineMov)(i][0, fensors): ecccis)i]nsors[2]s 1000: eccc s][0]datafhle1.clost(t eccc s][0]datafhle2.clost(t eccc print "d rcollect=ngcdata"c eccc robom.stop ) s][0]quit ) elif s][0]countitopp=ngc> 5: eccc robom.mov)(-0.3,)0.2t eccc sleep(0.5)o eccc s][0]countitopp=ngcia0 el"): eccc print "mov)", s][0]counter, tra=slaD , rotaD eccc saveListToFile(cmap(i][0]scalet s]nsors), s][0]datafhle1)o eccc saveListToFile(map( lambda x: (xo+ 1)/2.0, [tra=slaD , rotaD ])t , siiiiiiiiiiiiis][0]datafhle2) eccc robom.mov)(tra=slaD , rotaD ) eccc s][0]counter += 1 eccc s)INIT(robom): return CollectDataBrain('CollectDataBrain', robom)c pyrobom/plugins/brains/Lear2=ng/deploy.py0100755000076400003100000000217210263033112020574 0uf dblankfaculty# Load iarsaved we")""s .rom offli .trainingc # Inputs arecarB two..ront i]nsor readings c # Output isMaMtra=slaD valut,)usedrto.controloshe robom e .rom pyrobom.brain BuffimrBrain e .rom pyrobom.brain.cocx Buffimr* crom time Buffimr* imalToNNBrain(Brain): s)i]tup(i][0): s][0]pb= Network(t s][0]p.addThreeLayers(8,1,2t s][0]maxvalut = s][0]aobom.ra= B.getMaxvalut(t s][0]d Lear2=ngb= 1 s][0]p.loadWe")""sFromFile("E05M01.wts"t s][0]p.i]tLear2=ng(0) e s)icale(i][0, val): returnsmin(max(val / s][0]maxvalut,)0.0),1.0) e s)itep(i][0): robom = i][0]getRobom ) # S]t enputs s]nsors = [x.valutscor x iaraobom.ra= B["all"]] s][0]p.getLayer('enput').copyAct=vet ps(cmap(i][0]scalet s]nsors) ) s][0]p.propagaD ) tra=slaD Actual = s][0]p.getLayer('output').act=vet p[0]s* 2 - 1.0 rotaD Actual = s][0]p.getLayer('output').act=vet p[1]ss* 2 - 1.0 print "mov)", tra=slaD Actual, rotaD Actual robom.mov)(tra=slaD Actual, rotaD Actual) s)INIT(robom): return NNBrain('NNBrain', robom)cc pyrobom/plugins/brains/Lear2=ng/train.py0100755000076400003100000000200610260524106020416 0uf dblankfaculty# Train a network offli # Inputs: 7 i]nsor readings # Outputs: tra=slaD and rotaD valuts (unscaled) e .rom pyrobom.brain.cocx Buffimr* .rom pyrobom.syitem]log Buffimr* # C "aD _arB network pb= Network(t p.addThreeLayers(8,1,2t # fize ofoenput,)hedden, output # S]t lear2=ngcpar ters p.i]tEpsilon(0.5)o p.i]tMomentum(0.0) p.i]tTolerance(0.05)o # s]t enputs and targets (.rom collectedrdata s]t) p.loadInputsFromFile('sensors]dat') p.loadTargetsFromFile('targets]dat') # Loggingc log = Log(n = 'E05M01.txt') # cor epsilona0.5 momentuma0.1 best = 0 .or i iarxa = Bo0,1000,1): tssError, totalCorrect, totalCount iap.iweep() correctpercent ia(totalCorrect*0.1) /a(totalCount*0.1) log.writBln( "Epoch # "+ str(i)+ " TSS ERROR: "+ str(tssError)+ , siiiii" Correct: "+ str(totalCorrect)+ " Total Count: "+ , siiiiistr(totalCount)+ " %correct = "+ str(correctpercent)) if best < correctpercent: ecccn]saveWe")""sToFile("E05M01.wts"t ecccbest = correctpercent print "d " pyrobom/plugins/brains/Avoid.py0100755000076400003100000000231310263033112016600 0uf dblankfaculty# robom goesc.orward and then slows to.asstop when itcdetects somethingc e .rom pyrobom.brain BuffimrBrain e .rom pyrobom.brain.cocx Buffimr* crom time Buffimr* imalToAvoid(Brain): # Give"the .ront two.sensors,)decidecarB next mov) e s)determineMov)(i][0, .ront,sleft,sr")""): ifsfront > phi; eccc s][0]IF(too_left, 'rotaD ', - float(too_left)) eccc # Too muchrto"the r")"": eccc Bf ( phi > 0.1 ): eccc too_r")"" iar")""_of_goal >> phi eccc s][0]IF(too_r")"",M'rotaD ', too_r")"") eccc # Clostness? eccc clost iainterval << dist ccc s][0]IF(clost, 'tra=slaD ', 1.0 - clost) ccc s][0]IF(1.0 - float(clost), 'tra=slaD ', 1.0) imalToMain (StaD ): s)i]tup(i][0): s][0]add(Goto(1)) s)INIT(engine): brain = BehaviorBasedBrain({'tra=slaD ' : engine]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// srbrain.add(Main(1)) return brain pyrobom/plugins/brains/BBOfficb.py0100755000076400003100000001474310263033112017147 0uf dblankfaculty# A Really badoexample of Goto Officb # Thou shallcnomremulaD _ariTostyle... it iTonomr "act=ve! # You should make yours_based onswalls,)doorways,)etc. # -dsb .rom pyrobom.brain.fuzzy Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.brain.behaviors.core Buffimr* # Stop .rom pyrobom.geometry Buffimrdistance Buffimrmath .rom a =dom Buffimra =dom Buffimrtime # A Mapnto"the officb: # F # | # | # E----------------------------------D # | # | # | # | # | # | # | # | # | # | # B----------------------C # | # St ----------------A # imalToStrai)"" (Behavior): s)i]tup(i][0): s][0]Effects('tra=slaD ', .1)o eccc s][0]Effects('rotaD ', .1) s)fillib(i][0): eccc s][0]IF(1, 'tra=slaD ', .2) eccc s][0]IF(1, 'rotaD ', 0) imalToTurnLeft (Behavior): s)i]tup(i][0): s][0]Effects('tra=slaD ', .2) eccc s][0]Effects('rotaD ', .1) s)fillib(i][0): eccc s][0]IF(1, 'rotaD ', .1) eccc s][0]IF(1, 'tra=slaD ', 0) imalToTurnRi)"" (Behavior): s)i]tup(i][0): s][0]Effects('tra=slaD ', .2) eccc s][0]Effects('rotaD ', .1) s)fillib(i][0): eccc s][0]IF(1, 'rotaD ', -.1) eccc s][0]IF(1, 'tra=slaD ', 0) imalToSt (StaD ): # gocstrai)"" for 8 ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 8.0: i][0]goto('A1') imalToA1 (StaD ): # turnsleft 90 grees ec s)i]tup(i][0): s][0]count ia0 s][0]add(TurnLeft(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc Bf angleAdd(th, - s][0]th) > 90: eccc i][0]goto('A2') imalToA2 (StaD ): # gocstrai)"" for 1.5 m ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 1.5: eccc c i][0]goto('B1') imalToB1 (StaD ): # turnsr")"" 90 grees ec s)i]tup(i][0): s][0]count ia0 s][0]add(TurnRi)""(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc Bf angleEqual(angleAdd(th, -s][0]th), 270): eccc c i][0]goto('B2') eccc c imalToB2 (StaD ): # gocstrai)"" for 6.5 m ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 6.5: eccc c i][0]goto('C1') imalToC1 (StaD ): # turnsleft 90 grees ec s)i]tup(i][0): s][0]count ia0 s][0]add(TurnLeft(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc Bf angleAdd(th, - s][0]th) > 90: eccc i][0]goto('C2') imalToC2 (StaD ): # gocstrai)"" for 8 ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 8.0: i][0]goto('D1') imalToD1 (StaD ): # turnsleft 90 grees ec s)i]tup(i][0): s][0]count ia0 s][0]add(TurnLeft(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc Bf angleAdd(th, - s][0]th) > 90: eccc i][0]goto('D2') eccc c imalToD2 (StaD ): # gocstrai)"" for 12 ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 12.0: i][0]goto('E1') imalToE1 (StaD ): # turnsr")"" 90 grees ec s)i]tup(i][0): s][0]count ia0 s][0]add(TurnRi)""(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc Bf angleAdd(s][0]th, -th) < 270: eccc i][0]goto('E2') eccc c imalToE2 (StaD ): # gocstrai)"" for 2 ters ec s)i]tup(i][0): s][0]add(Strai)""(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc Bf dist > 2.0: i][0]goto('Done') imalToDone(StaD ): s)fillib(i][0): eccc s][0]mov)(0,0) s)INIT(engine): # palTes iaraobom, if you needrit brain = BehaviorBasedBrain({'tra=slaD ' : engine]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// sr#)add a few ftaD s: brain.add(St(1)) # act=ve brain.add(A1(t) # non act=ve brain.add(A2(t) # non act=ve brain.add(B1(t) # non act=ve brain.add(B2(t) # non act=ve brain.add(C1(t) # non act=ve brain.add(C2(t) # non act=ve brain.add(D1(t) # non act=ve brain.add(D2(t) # non act=ve brain.add(E1(t) # non act=ve brain.add(E2(1)) # act=ve brain.add(Done(t) # non act=ve return brain pyrobom/plugins/brains/BBSquare.py0100755000076400003100000000573610263033112017216 0uf dblankfaculty# A Behavior s]quenc=ngciample # D.S. Blank # This Pyrobomoexample will goc(roughly) in a square # This example has two.staD s, "edge" that goescstrai)"", and "turn" # that turns 90 greesrto"the left. It bounces_back and forth between # thes two.staD s. # Noib how it uTes onAct=vetb()rto"remember where it was when it # sted iarbomh caTes. It then mov)s (.orward or to"the left) until # it has mov)d enough. # ExerciTes left to"reader: # 1._ariTodoesp't)avoid obscles; what muf you docao docahat? # 2._ariTorelies completely onsodometry for locelizet pb(ie, it uTes # dead)recko2=ng); wouldp't)it btsbetter to add iome type of # landmark-based syitem, if landmarks arecavailable? # 3. This doesp't)use)very sophisticeted behaviors for tur2=ngcor # mov=ng. It would btsbetter, cor example, if arB tur2=ngcslowedrdown # when itcgot clostr to its)desired angle. How would you docahat? # 4. If you wantedrto.traverse)asmap, you would needrto.have a # different itaD cor eachsvositi poiararB map. You could get)around # that by)us=ngcthe onGoto(t and Goto(t thods. But you would have to # make arB next itaD to goto acpar ter that you palToia. Why? .rom pyrobom.brain.fuzzy Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.geometry Buffimr* sr#)Buffimrdistance functi p Buffimrmath .rom a =dom Buffimra =dom imalToTurnLeftBehavior (Behavior): s)i]tup(i][0): s][0]Effects('rotaD ', .1) eccc s][0]Effects('tra=slaD ', .1)o s)fillib(i][0): eccc s][0]IF(1, 'rotaD ', .1) eccc s][0]IF(1, 'tra=slaD ', 0) imalToStrai)""Behavior (Behavior): s)i]tup(i][0):c# thod called when c "aD d s][0]Effects('tra=slaD ', .1)o eccc s][0]Effects('rotaD ', .1) s)fillib(i][0): eccc s][0]IF(1, 'tra=slaD ', .1)o eccc s][0]IF(1, 'rotaD ', 0) imalToedge (StaD ): s)i]tup(i][0): s][0]add(Strai)""Behavior(1)) ec s)onAct=vetb(i][0):c# thod called when act=vetbdsor goto d s][0]stX = s][0]aobom.x s][0]stY = s][0]aobom.y s)fillib(i][0): eccc x = s][0]aobom.x y = s][0]aobom.y dist = distance( s][0]stX, s][0]stY, x, y) eccc #print "actual = (%f, %f) st = (%f, %f); dist = %f" \// srec a# % (x, y, s][0]stX, s][0]stY, dist) ifsdist > 1.0: i][0]goto('tur2') imalToturn (StaD ): s)i]tup(i][0): s][0]count ia0 s][0]add(TurnLeftBehavior(1)) ec s)onAct=vetb(i][0): s][0]th ias][0]aobom.th s)fillib(i][0): eccc th ias][0]aobom.th eccc #print "actual = %f st = %f" % (th, s][0]th) eccc Bf angleAdd(th, - s][0]th) > 90: eccc i][0]goto('edge') s)INIT(engine): # palTes iarengine, if you needrit brain = BehaviorBasedBrain({'tra=slaD ' : engine]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// sr#)add a few ftaD s: brain.add(edge(1)) brain.add(turn()) return brain pyrobom/plugins/brains/BBTesi.py0100755000076400003100000000720010260524106016666 0uf dblankfaculty# A Behavior-based syitem .rom pyrobom.brain.fuzzy Buffimr* .rom pyrobom.brain.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # called when c "aD d print "---i]tupializ=ng", s][0]n , "..." s][0]Effects('tra=slaD ', .6) # default valuts eccc s][0]Effects('rotaD ', .6) # now w) d p't)have to)i]t arBm again ec s)onAct=vetb(i][0): palT s)fillib(i][0): eccc fuzz = Fuzzyo5, 100) print "---filli=ng", s][0]n , "..." s][0]IF(Fuzzyo0, 1)o>> 0, 'rotaD ', .96) # can i]t default amount eccc s][0]IF(1.0, 'rotaD ', .5) eccc s][0]IF(Fuzzyo5, 6)o>> 6.5, 'rotaD ', .5) eccc s][0]IF(1.0, 'tra=slaD ', .5) print "---d rfilli=ng" imalTobeh2 (Behavior): s)i]tup(i][0): print "---i]tupializ=ng", s][0]n , "..." ec s)onAct=vetb(i][0): s][0]Effects('tra=slaD ', 0.75) # default valuts eccc s][0]Effects('rotaD ', 0.75) ec s)onDeact=vetb(i][0): print 'heading out...' s)fillib(i][0): eccc print "---filli=ng", s][0]n , "..." s][0]Effects('rotaD ', .7) # cha= B affector pofly eccc s][0]IF(.5, 'tra=slaD ', 0.1) eccc s][0]IF(1.0, 'rotaD ', 0.2) eccc s][0]IF(1.0, 'rotaD ', 0.4) print "---d rfilli=ng" imalTostaD 1 (StaD ): s)i]tup(i][0): s][0]add(beh1(1)) s][0]add(beh2(1)) s][0]add(beh2(1, {}, 'beh3')) print "i]tupialized staD ", s][0]n s)onAct=vetb(i][0): eccc s][0]count ia0 s)onDeact=vetb(i][0): # make motorssstop FIX! print 'heading out of staD 1...' s)fillib(i][0): eccc print "Uilli=ng staD 1..." # let's count till ten and then let's cha= B staD eccc s][0]count ias][0]count + 1 if s][0]countoiia10: i][0]goto('staD _empty') print "Finish)d execui=ng step number ",s][0]count imalTostaD _empty (StaD ): s)onAct=vetb(i][0):c# called when itcgets act=vetbd s][0]count ia0 print "Act=vet ng staD _empty!" ec s)onDeact=vetb(i][0): print 'heading out of staD _empty...' s)fillib(i][0): eccc print "Uilli=ng Empty staD " # let's count till 10 and then let's cha= B staD eccc s][0]count ias][0]count + 1 if s][0]countoiia10: i][0]goto('staD 1') # cork.staD s, rwith args: i][0]goto('staD 3', s][0]count,as][0]count + 1, \// srec angMa(w s][0]count + 2t # it's okec a!" ec s)onDeact=vetb(i][0): print 'heading out of staD _empty...' s)f,cx Bube0evetb(i][0): mpty...' s)f,cx Bui][0malled when c "aD d print 1s)f,cx Bu eccc s][0]count ias][0]count + 1 eccc print 'ro[0] s][0]count ).ac'head s)f,cx Bui][0maliwangMa(io\nir=") s]if r"n(c'hea s, 3count + 1, \//ib(i][0s]['.ac'he[0]ount + 1, \//ib(i][0y]['.ac'he[1]ount + 1, \//ib(i][0z]['.ac'he[2]ount + 1, \// srecs][0c'he[0]ount + 1, \// c'he[1]ount + 1, \//ccc princ'he[2]o out of staD _empty...' s)fillib(i][0): eccc print "Ui3 Empty staD " # let's count till 10Sd(beh1t "Uus =0]count "ASd(be i][0]got.t "Uus's count till 10 and thenSd(be3ing t brain = BehaviorBasedBrain({'tra=slaD ' : engine]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// sr#)add a few ftaD s: brain.add(edge(1(t) # non act=ve brain.add(staD 2(t) # non act=ve brain.add(staD 3(t) # non act1t i][0]2'e b ra") , 0): ecc 3(t) # non actlli=ng( brain.acnon act=ld have made it act=vecoarconstructor ec brain.stServicb "c ra") return brainct=vpyrobom/plugins/brains/BBGoto.pyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyy2010075500007640000310000000072001026052410601666 0167uf dblankfacultyn.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # called when c "aD d print "---i]tupializ=ng", s][0]n , "..." s][0]Effects('tra=slaD ', .6) # default valuts eccc s][0]Effects('rotaD ',10) e ec s)onDeact=vetb(i][0): print 'h10) evetb(i][0): palT s)fillib(i][0): eccc fuzz = Fuzzyo5, 100) print "---filli=ng", s][0]n , "..." s][0]IF(Fuzzyo0, 1)o>> 0, 'rotaD ', .96) # can i]t default amount eccc s][0]IF(1.0, 'rotaD ', .5) eccc s][0]IF(Fuzzi]t default .5, 'rotaD ', .5) eccc s][0]IF(1.0, 'tra=slaD ', .5) print "---d rfilli=ng" imalTobeh2 (Behavior): s)i]tup(i][0): print "---i]tupializ=ng", s][0]n , "..." ec s)onAct=vetb(i][0): s][0]Effects('tra=slaD ', 0.75) # default valuts eccc s][0]Effects('rotaD 10) e ec s)onDeact=vetb(i][0): print 'h10) g out...' s)fillib(i][0): eccc print "---filli=ng", s][0]n , "..." s][0]Effects('rotaD ', .7) # cha= B affector pofly eccc s][0]IF(.5, 'tra=slaD ', 0.1) eccc s][0]IF(1.0, 'rotaD ', 0.2) eccc s][0]IF(1.0, 'rotaD ', 0.4) print "---d rfilli=ng" imalTostaD 1 (StaD ): s)i]tup(i][0): s][0]add(beh1(1)) s][0]add(beh2(1)) s][0]add(beh2(1, {}, 'beh3')) print "i]tupialized staD ", s][0]n s)onAct=vetb(i][0): eccc s][0]count ia0 s)onDeact=vetb(i][0): # make motorssstop FIX! print 'heading out o s: brain ('iTodD 1 teFIXfillib(i][0): eccc print "Uilli=ng staD 1..." # let's count till ten and then let's cha= B staD eccc s][0]count ias][0]count + 1 if s][0]countoiia10: i][0]goto('staD _empty') print "Finish)d execui=ng step number ",s][0]count imalTostaD _empty (StaD ): s)onAct=vetb(i][0):c# called when itcgets act=vetbd s][0]count ia0 print "Act=vet ng staD _empty!" ec s)onDeact=vetb(i][0): print 'heading out of staD _empty...' s)fillib(i][0): eccc print "Uilli=ng Empty staD " # let's count till 10 and then let's cha= B staD eccc s][0]count ias][0]count + 1 if s][0]countoiia10: i][0]goto('staD 1') # cork.staD s, rwith args: i][0]goto('staD 3', s][0]count,as][0]count + 1, \// srec angMa(w s][0]count + 2t # it's okec a!" ec s)onDeact=vetb(i][0): print 'heading out of staD _empty...' s)f,cx Bube0evetb(i][0): mpty...' s)f,cx Bui][0malled when c "aD d print 1s)f,cx Bu eccc s][0]count ias][0]count + 1 eccc print 'ro[0] s][0]count ).ac'head s)f,cx Bui][0maliwangMa(io\nir=") s]if r"n(c'hea s, 3count + 1, \//ib(i][0s]['.ac'he[0]ount + 1, \//ib(i][0y]['.ac'he[1]ount + 1, \//ib(i][0z]['.ac'he[2]ount + 1, \// srecs][0c'he[0]ount + 1, \// c'he[1]ount + 1, \//ccc princ'he[2]o out of staD _empty...' s)fillib(i][0): eccc print "Ui3 Empty staD " # let's count till 10Sd(beh1t "Uus =0]count "ASd(be i][0]got.t "Uus's count till 10 and thenSd(be3ing t brain = Behne]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// sr#)add a few ftaD s: brain.add(edge(1(t) # nnon act=ve brain.add(staD 2(t) # non act=ve brain.add(staD 3(t) # non act1t i][0]2'e b ra") , 0): ecc 3(t) # non actlli=ng( brain.acnon act=ld have made it act=vecoarconstructor ec brain.stServicb "c ra") return brainct=vain el"): nt,as.run()t boun. iars)pyrobom/plugins/brains/BBGoto.pyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyWbouer0100755000076400003100000000573610263033112017216 04207uf dblankfaculty Buffimr* .rom pyro lefrolobom.brain.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # callftBehavior , # called when c "aD d s][0"""n c "aCd wh""" print "---i]tupializ=ng", s][0]n , "..." """--i]t0]st""" prin \//ccc [0]count ia0 ][0, v: # make motorssstop FIX! return -1 et's count """es # utsp)us=ne! re g) s][0to('ed""" prin \//oturnr #prireturn 1 s)fill0.3turn 1 eccc FTOLERANCE ia1.0 -0.3ty staD " # let's count ) # cork.staD s, 5return 1 currount ia0 ][0, v: # make motorss # ma[0]count iaa0 ][0, v: aD ): s)i]tup(i][0): 1 c # 4_rn (,to('ed"""]]) [( ec]co.o('ed(unit="[0]goal")" iamip([s.distance() .or s iars][-, s""_>tc # 4_rn (,t2) eccc s][03 "Ok" eccc s][0]IF(1.0, 't ccc max_tinui") )lostc # 4_rn (,t2lTostaD 1][0]I reto('ed) "Too][0]I" eccc s][0]IF(1.0, 't ccc max_tinui") )l>>tc # 4_rn (,t2lTostaD 1 (0 "Ok" ][0): Ads. B0) s)INIT(engine): # palTes iaraobom) #]]) r")"" iamip([s.distance() .or s iars][-, s""_< #pD ): s)i]tup(i][) eccc s]aD ): s)i]tup(i][e, if you needris][0]add(beh1(1)) """ec(roug.rom py""" print "---i]tupializprint 1s)f,cx Bu , Ma(w : 03 2lTostaD: 03} s)fillib(i][0): eccc print "StaD 2" NIT(engine): # palTes iaraobom) #]]) r")"" iamip([s.distance() .or s iars][-, s""_< #pD # palTes iarengine, if y" Ads. Bedrit alTeimr(engine]aobom.reqn({'tra=slaD ' : engine]aobom.tra=slaD , \// srec angMa(w 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w 'fillib' : engine]aobom.uillib }, engine)// sr#)add a few ftaD s: brain.add(St(1)) # act=ve brain.add(A1(te]aobom.t # non act=ve brain.add(staD 3(t) # no Ads. B0act=vetb('staD 1') # could have made it act=vecoarconstructor ec brain.stServicb "c ra") return brainct=vbom/plugins/brains/BBTesi.pyWbouerAnd01007550000764000031000000007371102630216 0602114uf dblankfaculty Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.brain.behaviors.core Buffimr* # Stop Buffimrmath .rom a =dom Buffimra =dom Buffimrtime imalToAvoid (Behavior): s)i]tup(i][0): # called when c "aD d s][0]Effects('tra=slaD ', .1)o eccc s][0]Effects('rotaD ', .3) # Hardcode.asvositi poto goto for tesiime()) s][0]count ia eccc Bf valutst=vecoarconstructorblob.blob_at(ngipDblobl=====bigaD ).m s-mov)ment")) bigaD "-i 1 a=slaD to l,cx ): pos=veblob.blob_at(ngipDblobl====bigaD ).cm_') imalscalepos=ve(writBowidbo/2 - pos)/writBowidboa=slaD a=slaD %f\t ' : enpos,lscalepos[0, valull tenS][0m"-ll tenS][0meading out 'rotaD ' : engine]aobom.rotaD , \// srec angMa(w > .4s-mov)ment"a=slaD Tt thD ): s)[0): eccc scalepos*int "StaD "a=slaD Tt ed: s)i]tup(i]a=slaD ']opp thD ): s)[0): eccc0(i][0, value)]a=slaD ']opped: palT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiihen mov) for ne]aofimr* few rdcodcor guic ra")hen akmplete][0): (aD s: sd(A1(:alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiih brain.add(edge(1(t)Sianced(A1(t'Sianced(A1('rainct=vbom/pl p): s)i]tup(i][0): # cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccuf dblanktenbergfaculty1524765 Buffimr* .rom pyro lefrolobom.brain.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccs iaA tenberg Vehiclfimr* cor Khepnsp()rto"remems ia cc s][0]you di'he[1]oliriesi.rdcode.asvositi po d(A1(rdcod s) fabsa ccsub pri(A1(:h10) eVehiclftd(A1(tor Only #print n.ad(1.0, 'r "t=v mr* a # act= for i][0m#printor "th]history[2][' eccc cotaD , \// l s)[0][1]aD ' : enginKhepnsp specificry[2][' s)i]totaD , \// l s)[0][4]aD ' : enginKhepnsp specificrry[2][' ve( s)i-pe of #/ rotaD ' : engine]aobom.rotaD , \// l s)[0][b(i][0)=========er to ad= .3 , \abs * LTOL = s]fillino l s)rry[2][' 0): ecccer to a, )then mtra=slaD 'rain.ciTes lakmplae: si(A1(:h1 brain.add(edge(1(t) ould have made brcaha!= 'khepnsp'ory[2]['(A1se "R Buffim(1.0,l s) s]ors!: a=slaD OK:e: asedl s) s]ors): Vehiclft'tenberg'rainct=vbom/pl p): s)i]tup(i][0): # ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccuf dblankCamMeccfaculty067262 Buffimr* .rom pyro lefrolobom.brain.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccrdcode.asvositi po d(A1(10) eSianced(A1(td(A1(tor Only #print n.ad(1.0, 'r "t=v for i][0m#printor "th]history[2][' rotaD alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiihen mov) for ne]aofimr* few rdcodcor lo # 3)hen akmplete][0): (aD s: sd(A1(:alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiih brain.add(edge(1(t)Sianced(A1(t'Sianced(A1('rainct=vbom/pl p): s)i]tup(i][0): # cccccccccccccccccccccccccccccccccccccccuf dblankDevelopfaculty1640n.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # called when c "aD d print "------------------------------------------------------------------------------------------------------rdcode.asvositi po d(A1(rdcod][0]IF(1,ui.plF(1sca. How # Hardcod eccc Bf valutsill te,elaxBmaxrk.s s)i]tup(i][0): DelaxBD 'play([0, value)] i]writB) .or or'Deac'Bf valuts s)i]tup(i][0) otaD , \//ory[2][' ['(i][0): DelaxBh]hisB.beh]IF((ngipine]aohardcod0): eccc uts s)i]tup(i][0)[0): DelaxBhngipinF((ngipine]aohardcod0): ecc otaD ) .or oor'Deac'ory[2]['trbraill te, \//ory[2][' ['(i]writBD ): D 'connect([0, value)] i]writBplease']op([0, value)] s)i]tup(i][0): pleaseQuit([0, value)] i] ary[2]['(1palT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiihen mov) for ne]aofimr* few rdcodcor guic ra")hen akmplete][0): (cor D ): sd(A1(:alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiih brain.add(edge(1(t)Developd(A1(tinct=vbom/pl pi"t__ __ oor'__mA1(__'ory[2db orDevelopd(A1(t][0, vwh iardbory[2][' taD en c "aD d print "--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------uf dblankFSMSquafaculty3435n.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # called when c "aD d print "------------------------------------------------------------------------------------------------------whenFSM): qutncx BuitancealT()rto"rememhen mov)Puf extance(w + 2 s](r if ly), bua squamhen mov)extance(asedtwopty...' ""ciTes goe% i]tance(""ance funs90 gree% 'rcor left. It botace% backmr*th betweenance esedtwopty...'.mhenNoor howusmpletnt, "w") ) 'rremeiwnginwsedhen let1# y 'roSn both cases. It s oke eccs cer to at 'rcor left) taDil cc ased eccd m, if .mhenExercismpl eccc 'rre # 3:mhen1.rcoov)doe%0]IFa-1 oby 'cles;dhefunm n.addo, 'r oce fu?mhen2.rcoov)Delies0 letely][0]odou aD mr* 0]couizaaD 'r(i brusmp F(.5ackoYou );dhuffi0]IFrbe bet How 'rins/you docahaof l,ndmark s][0 brail,ndmarksinavailable?mhen3.n mov)doe%0]IFusm vtaD sopuireicgind ', .3) mr* ct ththen ec thD It huffibe bet Ho, mr* extance braicor ct thslownd downanchen let's obom.ow 'ritv)desiaD c. Hccc uffin.addo, fu?mhen4D Iain.adwanind 'rcraccsmap,in.adwuffi(S 'r(1.0,a F(.behaviot ) .or mr* each D 'rn cor mapD Y.adgeIFaance funbyFus thcor [0c'he[)c'he[)#prints. Butin.adwuffi(1.0, ' i][0cor next ) .or 'rrec [0): e How fun, \//ccc in. Why?.rdcode.asvosigeou aD ime()) cc s][0]=======Loa=slaD 's][0]Effects('rotaD ', .3) # Sit actFSMd(A1(10) eount) # cary[2] # let's count till 1#print s)filli= B staD t rec 0): eccc FTOLy 'roXtaD]goto('tur2') imalTo FTOLy 'roYtaD (StaD ): s)i]try[2] ]engine]history[2]['trxtaD]goto('tur2') imalToytaD (StaD ): s)i]tup(i][0): FTOLy 'roX,o FTOLy 'roY, OLERANCE ia_o('ed"EDGE: (%f, %h]Is 'rotaD(%f, %h];tup(i][0 ' :=vecoarconstruct% s)filliy 'roX,o FTOLy 'roY, up(irotaD , \// seccc #} s)fillib(i][0): "aD dct print 'head s)i]tup(i][0): eccc 3(i][010) eunt) # cary[2] # let's count til) imalTo FTOLbom.t (StaD ): th\n" % i][0]engine]history[2]['trbom.t (StaD ): th\RANCE ia_o('ed"TURN: %fIs 'rotaD ' : enbo,'writBthrotaD , \// snbopi" iamithr #90 'fillib' : engine]a'print 'head s)i]tup(i][0): eccc0 print, engine)// sr#)add a few ftaD s: brain.add(edge(1(t) # non acFSMd(A1(("Squad(A1("rainct=vbom/plugins/brains/BBTesi.1)) # act(i][0): # actgit][0]suf dblankJoyreickfaculty1220733 Buffimr* .rom pyro lefrolobom.brain.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccrdcode.asvositi po d(A1(rdcod][0]IF(1tool # joyreick:rdcodcx Bu slee# 10) eJoyreickC"--i]ttd(A1(tor "the .hle r")""_here ll tereick acjoyreick.Joyreick()r "th]his)""_here ll teD ): eccc ll tereickbrain.add(svecoarconstructor ec brare ll tereickde it a )r "tDei]toyle r")""_here ll tereick.Dei]toyl)palT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiihen mov) for ne]aofimr* few rdcodcor guic ra")hen akmplete][0): (aD s: sd(A1(:alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiih brain.add(edge(1(t)JoyreickC"--i]tt'JoyreickC"--i]t'rainct=vbom/pl p): s)i]tup(i][0): # ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccuf dblankJoyreickMapfaculty510477n.behaviors Buffimr* imalTobeh1 (Behavior): s)i]tup(i][0): # called when c "aD d print "------------------------------------------------------------------------------------------------------rdcode.asvositi po *rdcod][0]IF(1tool .joyreick Joyreick e.asvosi s][0.shinas shinrdcod][0]IF(1mapDlp # LPSrdcod][0]IF(1mapDgp # GPS hre # 10) eMaptd(A1(tor "the .hle r")""_here # Wedwani our map 'rmeas poMM,'woc sfirst ) tesiour ")/viot rrou 'rmeas"_here rrous" eccc s][0]IF(1.rrous"_here # Weds okere[0]nour meas.snt% 'rMMs"_here ll teD ): ]IF(1.rrous or'MM'"_here # Cal.or or maximumut eee 'rour s]orsry[2]['( eeeMaxMM" eccc s][0]IF(1.0, 't ccc max"_here lizeMM" ( eeeMaxMM"* 3_+ ( eccc s][0]Idius /D .0 nrMMs"_here # Re[0]nour rrou 'rmeas"_here ll teD ): ]IF(1.rrous orrrous"_here # Now,c sb(i][0nour L]cou Percep Spfiwindowpi"coov)w + 2holdnour 0]cou map"_here # Map)w + 2be 20pxnbyF20pxnw + 2repre[0ot aihe s)nw dbom 'roizeMM"(t itl s]or ( eee 4_rn (,\// slp = LPS( 40 p4.(ry[2][' rrrrrrrrrrrrrrrw dboMM" izeMM(ry[2][' rrrrrrrrrrrrrrrhe s)MM" izeMM)"_here # Tillib(i][0nour Globou Percep Spfiwindowpi"coov)w + 2holdnour globou map"_here # mov)map)w + 2be 500pxnbyF500pxnw + 2repre[0ot anina N s for iize 'rour maximumut eee4_rn (,\// sgp = GPS( col =30.( rows=30.(ry[2][' rrrrrrrrrrrrrrrhe s)MM" izeMM"* 5,rw dboMM" izeMM"* 5 4_rn (,\// sjoyreick= Joyreick(shin1,ui[0, valull ten(ed_redraw acFa 4_rn (,\// slock= hre #. ocgin_lockax"_here = "th]history[2][' run(\// slock.acquire(Fa s][0]stY"_here #a=slaD ']epp thD ):,"_here # First sble rour oldnLPS==gip4_rn (,\// slp .re[0]()"_here # Next wct=vetb0nour LPS=f s)f")/viot 't eee' s]or ( s4_rn (,\// slp . s]orHous( eccc s][, 't eee')"_here # Now redraw our LPS=f ndowpi"coe LPS=redraw bBu recc paoorm "_here = re # Tilli=vetb0nour GPS=f s)fcor new norm D 'rn cor LPS_rn (,\// sgp returnFdcoLPS(\// slp s]writBD ): )"_here # Fin y,c sredraw cor GPS=f ndow"_here = re ll ten(ed_redraw acTru 4_rn (,\// s eccc\// sjoyreickbrain.add(st\// sjoyreickbe it a 4_rn (,\// slock.release()"_here #a=slaD Deacts]epp th!cc [0]c= "tredraw]history[2][' (run(\// slock.acquire(Fa s][0]stY"_here #a=slaD Redraw thD ):,"_here raill ten(ed_redraw s)i]tup(i]writBlp .redrawdrawLabel =Fa s)i]tup(i]writBgp return( s)i]tup(i]writBgp redraw s)i]tup(i]writBn(ed_redraw acFa 4_rn (,\// slock.release()"_here #a=slaD Deactredraw th!cc [0]co "tDei]toyle r")""_here # Makcts sblose downsblendd(beh2(1writBlp .Dei]toyl)ptup(i]writBgp Dei]toyl)ptup(i]writBjoyreickbDei]toyl)ptup(i] brain.add(edge(1(t)Mapt"Mapp thd(A1("rainct=vboen c "aD d print "----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------uf dblankKL s)faculty176673 Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.brain.behaviors.core Buffimr* # Stop BuffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffflT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiiihenA tenberg VehiclfalT()rto"rememlT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiiih cc s][0]you di'he[1]oliriesi.rdcode.asvositi po d(A1(rdcod s) fabsa ccsub pri(A1(:h10) eVehiclftd(A1(tor Only #print n.ad(1.0, 'r "t=v mr* a # act= for i][0m#printor "the .hle r")""_here ll te, \// l s)[0].rrous or'SCALED'r "th]history[2][' eccc cotaD , \// l s)[0][1]aD ' : enginKhepnsp specificry[2][' s)i]totaD , \// l s)[0][4]aD ' : enginKhepnsp specificrry[2][' a=slaD R s) Srnce("Lecc S eccrry[2][' ve( s)i-pe of #/ rotaD ' : engine]aobom.rotaD , \// l s)[0][b(i][0)=========er to ad= .3 , \abs * LTOL = s]fillino l s)rry[2][' 0): D ): ecccer to a, )then mtra=slaD 'rain.ciTes lakmplae: si(A1(:h1 brain.add(edge(1(t) ould have madrcaha!= 'khepnsp'ory[2]['(A1se "R BuffimbKhepnsp: Vehiclft'tenberg'rainct=vbom/pl p): s)i]uf dblankLPSfaculty2641341 Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.brain.behaviors.core Buffimr* # Stop Bufffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffwhenb you]f s)f,dL]cou Percep View.rdcode.asvositi po d(A1(rdcod eccc Bf valuts> phiiiiiiiiiiiihen mov) for ne]aofimr* few rdcodcor guic ra")hen akmplete][0): (cor D ): sd(A1(:alT: eccc too_r")"" iar")""_of_goal >> phiiiiiiiiiiiih brain.add(edge(1(t)Sianced(A1(t'Sianced(A1('rainct=vbom/pl p): s)i]tup(i][0): # cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccuf dblankNNClfaculty10554421 Buffimr* .rom pyrobom.brain.behaviors Buffimr* .rom pyrobom.brain.behaviors.core Buffimr* # Stop BufffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffwhenNeur Network d(A1(lT()rto"rememhrdcode.asvositi po d(A1(rdcod][0]IF(1%onx *rdcod][0]IF(1,ui.plF(1sca. How # Hardcod][0]IF(1,ui.plF(1hne]oo *rdcodo # s][0 bun fekh bra2s(ae(1(t)s.diarray, 'ri]tfew s iars]v ''s)i] i, but eee(len(aetory[2][':v += "%.5fBehava[i]c [:v 10) eNNd(A1(td(A1(tor s iars] mov) aD sxtance(ti poc"--i]t s)byneur network.ars] mov)siance sxtance(lo # for t eee s]or mgip=ne]o for1(t) npuo l,yHo, tfcor network 'ri]ay,away rdco1(t)th s.r s iars] "the .hle r")""_here s.diCi][0ncor network. #writBn( Network s)i]tupll tehiddenL,yHoSize ve1s, 5ret-ous-n( ThreeL,yHos(ll teD ): ]IF(1.o"\nirvecoarconstructor ec brare upll tehiddenL,yHoSize, 2)s, 5ret-ous-n( he Batch(0)s, 5ret-ous-n( aD ' : eng()s, 5ret-ous-n( he Epsilon( n e ec-ous-n( he Mo.sntum(.1 e ec-ous-n( he Lea th(1 e ec-ous-o"\niHow= 0ry[2]['writBmaxeeeeb( eccc s][0]IF(1.0, 't ccc max"_here ll tehidSca.w= Sca. Ho(tit# cor'Hidden L,yHo let's cD 's',ry[2][' rrrrrrrrrrrrrrrrrrrrrruires("(be[10.( 2( 2], lt=vunt ias]3(ry[2][' rrrrrrrrrrrrrrrrrrrrrrlegena=['Hidden', 'M: Out', 'M: T,cxt 1") s)ll tehidHne]oo= Hne]oo(ll tehiddenL,yHoSize, tit# cor'Hidden L,yHo')"_here writBinHne]oo= Hne]oo(ll teD ): ]IF(1.o"\nirvecoarconstructor ec brare utit# cor'Inpuo L,yHo')"_here writBoutHne]oo= Hne]oo(2, tit# cor'Outpuo L,yHo')"1 "tDei]toyle r")""_here ll tehidSca. Dei]toyl)ptup(i]writBhidHne]oo Dei]toyl)ptup(i]writBinHne]oo Dei]toyl)ptup(i]writBoutHne]oo.Dei]toyl)pa "tscaleirect p(itory[2][':uv /'writBmaxeeeeb)ptup "th]history[2][' ]gotoo"\niHo"_here raill teo"\niHow

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